JP2017517355A - 定量的3次元イメージング及び手術用インプラントのプリント - Google Patents
定量的3次元イメージング及び手術用インプラントのプリント Download PDFInfo
- Publication number
- JP2017517355A JP2017517355A JP2017502951A JP2017502951A JP2017517355A JP 2017517355 A JP2017517355 A JP 2017517355A JP 2017502951 A JP2017502951 A JP 2017502951A JP 2017502951 A JP2017502951 A JP 2017502951A JP 2017517355 A JP2017517355 A JP 2017517355A
- Authority
- JP
- Japan
- Prior art keywords
- model
- image
- target
- endoscope
- tissue
- 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
Links
Images
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
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/207—Image signal generators using stereoscopic image cameras using a single 2D image sensor
- H04N13/232—Image signal generators using stereoscopic image cameras using a single 2D image sensor using fly-eye lenses, e.g. arrangements of circular lenses
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
- A61B1/00006—Operational features of endoscopes characterised by electronic signal processing of control signals
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
- A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
- A61B1/000094—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope extracting biological structures
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00039—Operational features of endoscopes provided with input arrangements for the user
- A61B1/0004—Operational features of endoscopes provided with input arrangements for the user for electronic operation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00149—Holding or positioning arrangements using articulated arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00163—Optical arrangements
- A61B1/00194—Optical arrangements adapted for three-dimensional imaging
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/045—Control thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/05—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/06—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
- A61B1/0655—Control therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/06—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
- A61B1/0661—Endoscope light sources
- A61B1/0676—Endoscope light sources at distal tip of an endoscope
-
- 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
- A61B34/30—Surgical robots
-
- 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
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/48—Other medical applications
- A61B5/4851—Prosthesis assessment or monitoring
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
- G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
- G02B23/2407—Optical details
- G02B23/2415—Stereoscopic endoscopes
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
- G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
- G02B23/2476—Non-optical details, e.g. housings, mountings, supports
- G02B23/2484—Arrangements in relation to a camera or imaging device
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T15/00—3D [Three Dimensional] image rendering
- G06T15/005—General purpose rendering architectures
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/006—Mixed reality
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/254—Image signal generators using stereoscopic image cameras in combination with electromagnetic radiation sources for illuminating objects
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00043—Operational features of endoscopes provided with output arrangements
- A61B1/00045—Display arrangement
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00043—Operational features of endoscopes provided with output arrangements
- A61B1/00055—Operational features of endoscopes provided with output arrangements for alerting the user
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00064—Constructional details of the endoscope body
- A61B1/00071—Insertion part of the endoscope body
- A61B1/0008—Insertion part of the endoscope body characterised by distal tip features
- A61B1/00089—Hoods
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00163—Optical arrangements
- A61B1/00165—Optical arrangements with light-conductive means, e.g. fibre optics
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/042—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by a proximal camera, e.g. a CCD camera
-
- 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
- A61B2034/2059—Mechanical position encoders
-
- 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
- A61B2090/365—Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another 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
- A61B90/36—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
- A61B2090/366—Correlation of different images or relation of image positions in respect to the body using projection of images directly onto the body
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10068—Endoscopic image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20212—Image combination
- G06T2207/20221—Image fusion; Image merging
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30004—Biomedical image processing
- G06T2207/30008—Bone
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/30—Image reproducers
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Surgery (AREA)
- Physics & Mathematics (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Biophysics (AREA)
- Robotics (AREA)
- Signal Processing (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Computer Graphics (AREA)
- Software Systems (AREA)
- Astronomy & Astrophysics (AREA)
- Geometry (AREA)
- Transplantation (AREA)
- Computer Hardware Design (AREA)
- General Engineering & Computer Science (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Electromagnetism (AREA)
- Endoscopes (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
- Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
Abstract
Description
本特許出願は、
"QUANTITATIVE THREE-DIMENSIONAL IMAGING OF SURGICAL SCENES"と題する、2014年3月28日に出願された米国仮特許出願第61/971,749号、及び
"QUANTITATIVE THREE-DIMENSIONAL IMAGING AND PRINTING OF SURGICAL IMPLANTS"と題する、2014年12月23日に出願された米国仮特許出願第62/096,518号の優先権の利益を主張し、これらはその全体が参照により本明細書に援用される。
部分的な膝置換インプラントの3D運動を定量的に表すように構成されることができる。
及び
がモジュール402.5の一部として計算される。モジュール402.6の一部として、ノルム
が計算され、許容可能な許容差εと比較される。同様に、x軸ピクセル座標及び位置推定が計算され、許容可能な許容差に対して比較される。モジュール402.6の条件が満たされる場合、プロセスはモジュール403に進む。さうでなければ、モジュール402.4に戻り、標的候補を更に正確化する。
ここで、
Nは、イメージングセンサのピクセル寸法であり、
nx1は、x方向におけるS11平面の原点からのピクセルの数で表わされる標的ポイントTの位置であり、
ny1は、y方向におけるS11平面の原点からのピクセルの数で表わされる標的ポイントTの位置であり、
ny2は、x方向におけるS12平面の原点からのピクセルの数で表わされる標的ポイントTの位置であり、
nx2は、x方向におけるS12平面の原点からのピクセルの数で表わされる標的ポイントTの位置であり、
ny2は、y方向におけるS12平面の原点からのピクセルの数において表現される標的ポイントTの位置であり、
θは、視野の角度である。
ここで、
nx3は、x方向におけるS13平面の原点からのピクセルの数で表わされる標的ポイントTの位置であり、
ny3は、y方向におけるS13平面の原点からのピクセルの数で表わされる標的ポイントTの位置である。
Claims (18)
- 置換解剖学的構造を作るためのシステムであって:
標的組織を含む視野内の解剖学的構造を撮像するように配置される定量的3次元(Q3D)内視鏡と、
少なくとも1つのプロセッサであって、
前記標的骨組織を含む骨組織の外部表面を表す前記解剖学的構造から取り込まれる画像情報に基づいて第1のQ3Dモデルを作るように、
前記標的組織が除去された組織であった前記解剖学的構造の位置における残りの組織構造を表す前記解剖学的構造から取り込まれる画像情報に基づいて第2のQ3Dモデルを作るように、及び
前記第1のQ3Dモデル及び前記第2のQ3Dモデルに少なくとも部分的に基づいて置換構造の第3のQ3Dモデルを作るように、
構成される、少なくとも1つのプロセッサと、を有する、
システム。 - 前記第3のQ3Dモデルを作ることは、前記第1のQ3Dモデルと前記第2のQ3Dモデルとの間の1又は複数の差を決定することを含む、
請求項1に記載のシステム。 - 前記第3のQ3Dモデルを作ることは、前記第1のQ3Dモデルと前記第2のQ3Dモデルとの間の3Dデジタルサブトラクションを決定することを含む、
請求項1に記載のシステム。 - 前記少なくとも1つのプロセッサは:
前記第3のQ3Dモデルを、3Dプリンタによる使用に適するフォーマットで前記置換構造の3次元(3D)モデルに変換するように、構成される、
請求項1に記載のシステム。 - 前記少なくとも1つのプロセッサは、
前記置換構造に必要なサイズを示す出力信号を提供するように、構成される、
請求項1に記載のシステム。 - 外科用置換構造を作るための方法であって、
標的骨組織を含む視野内の解剖学的構造を撮像するように配置されるQ3D内視鏡を使用するステップ、
前記標的骨組織を含む骨組織の外部表面を表す前記解剖学的構造から取り込まれる画像情報に基づいて第1の定量的3次元(Q3D)モデルを作るステップ、
前記標的骨組織が除去された組織であった前記解剖学的構造の位置における残りの組織骨構造を表す前記解剖学的構造から取り込まれる画像情報に基づいて第2のQ3Dモデルを作るステップ、及び
前記第1のQ3Dモデル及び前記第2のQ3Dモデルに基づいて置換構造の第3のQ3Dモデルを作るステップ、を含む、
方法。 - 前記第3のQ3Dモデルを作るステップは、前記第1のQ3Dモデルと前記第2のQ3Dモデルとの間の3Dデジタルサブトラクションを決定するステップを含む、
請求項6に記載の方法。 - 前記第3のQ3Dモデルを、3Dプリンタによる使用に適するフォーマットで前記置換構造の3次元(3D)モデルに変換するステップ、をさらに含む、
請求項6に記載の方法。 - 前記3Dモデルを使用して前記置換構造を作るように構成される3Dプリンタを使用するステップをさらに含む、
請求項8に記載の方法。 - 前記置換構造の前記第3のQ3Dモデルに少なくとも部分的に基づいて前記除去された組織を置換するためのインプラントとして使用する既製の置換構造のサイズを決めるステップをさらに含む、
請求項6に記載の方法。 - 前記Q3Dモデルを作るステップは、前記第1のQ3Dモデルと前記第2のQ3Dモデルとの間の1又は複数の差を決定するステップを含む、
請求項6に記載の方法。 - 手術シーンの3Dイメージングのためのシステムであって、
Q3D内視鏡、
連続する位置に前記Q3D内視鏡を位置決めするマニピュレータ、
前記連続する位置から冗長な複数の連続する3D画像を取り込む手段、及び
前記冗長な複数の連続する3D画像に基づいて前記手術シーンのQ3Dモデルを作るように構成されるプロセッサ、を有する、
システム。 - 光源で解剖学的構造を照らすステップ、
体腔内の複数の連続する位置のそれぞれで、Q3D内視鏡を連続的に位置決めするステップ、
冗長な複数の連続する画像投影を取り込むステップ、及び
冗長な複数の連続する取り込まれた前記画像投影に基づいてQ3Dモデルを作るステップ、を含む、
方法。 - 前記内視鏡を連続的に位置決めするステップは、前記内視鏡の物理的な位置を連続的に変えるステップを含む、
請求項13に記載の方法。 - 前記内視鏡を連続的に位置決めするステップは、画像センサアレイに関連付けられる1又は複数のレンズの光学特性を連続的に調整するステップを含む、
請求項13に記載の方法。 - インプラント可能な装置の定量的な評価のためのシステムであって、
前記インプラント可能な装置を受けることを目標にされる視野内の構造を撮像するように配置される定量的3次元(Q3D)内視鏡と、
少なくとも1つのプロセッサであって、
インプランテーション前の前記解剖学的構造の第1のQ3Dモデルを作るように、及び
インプラントされた装置に必要なサイズを示す出力信号を作るように、
構成される、少なくとも1つのプロセッサと、を有する、
システム。 - 前記少なくとも1つのプロセッサは、
インプランテーション後の前記解剖学的構造の第2のQ3Dモデルを作るように、及び
少なくとも部分的に、前記第2のQ3Dモデルに基づいて、少なくとも1つの定量的評価出力を作るように、さらに構成される、
請求項16に記載のシステム。 - 前記定量的評価出力は、平均インプラント断面積とインプランテーションのための目標とされる前記解剖学的構造の平均面積との間の尺度、人工弁の開若しくは閉の尺度、又はステントによる血管管腔適用範囲の尺度のうちの1又は複数であり得る、
請求項16に記載のシステム。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2020012254A JP7433932B2 (ja) | 2014-03-28 | 2020-01-29 | 定量的3次元イメージング及び手術用インプラントのプリント |
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201461971749P | 2014-03-28 | 2014-03-28 | |
US61/971,749 | 2014-03-28 | ||
US201462096518P | 2014-12-23 | 2014-12-23 | |
US62/096,518 | 2014-12-23 | ||
PCT/US2015/023213 WO2015149043A1 (en) | 2014-03-28 | 2015-03-28 | Quantitative three-dimensional imaging and printing of surgical implants |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2020012254A Division JP7433932B2 (ja) | 2014-03-28 | 2020-01-29 | 定量的3次元イメージング及び手術用インプラントのプリント |
Publications (1)
Publication Number | Publication Date |
---|---|
JP2017517355A true JP2017517355A (ja) | 2017-06-29 |
Family
ID=54196485
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2017502951A Pending JP2017517355A (ja) | 2014-03-28 | 2015-03-28 | 定量的3次元イメージング及び手術用インプラントのプリント |
JP2020012254A Active JP7433932B2 (ja) | 2014-03-28 | 2020-01-29 | 定量的3次元イメージング及び手術用インプラントのプリント |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2020012254A Active JP7433932B2 (ja) | 2014-03-28 | 2020-01-29 | 定量的3次元イメージング及び手術用インプラントのプリント |
Country Status (6)
Country | Link |
---|---|
US (1) | US10350009B2 (ja) |
EP (1) | EP3122281B1 (ja) |
JP (2) | JP2017517355A (ja) |
KR (1) | KR102405687B1 (ja) |
CN (2) | CN106456271B (ja) |
WO (1) | WO2015149043A1 (ja) |
Families Citing this family (31)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3125806B1 (en) | 2014-03-28 | 2023-06-14 | Intuitive Surgical Operations, Inc. | Quantitative three-dimensional imaging of surgical scenes |
EP3125809B1 (en) | 2014-03-28 | 2020-09-09 | Intuitive Surgical Operations, Inc. | Surgical system with haptic feedback based upon quantitative three-dimensional imaging |
EP3125807B1 (en) | 2014-03-28 | 2022-05-04 | Intuitive Surgical Operations, Inc. | Quantitative three-dimensional imaging of surgical scenes from multiport perspectives |
KR102387096B1 (ko) | 2014-03-28 | 2022-04-15 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 시계 내의 기기들의 정량적 3차원 시각화 |
JP6323184B2 (ja) * | 2014-06-04 | 2018-05-16 | ソニー株式会社 | 画像処理装置、画像処理方法、並びにプログラム |
US20170064170A1 (en) * | 2015-09-01 | 2017-03-02 | Canon Kabushiki Kaisha | Optical transmission unit and image capturing apparatus |
JP2017099616A (ja) * | 2015-12-01 | 2017-06-08 | ソニー株式会社 | 手術用制御装置、手術用制御方法、およびプログラム、並びに手術システム |
CN105773072A (zh) * | 2015-12-30 | 2016-07-20 | 北京航科精机科技有限公司 | 一种片层叠加增材制造复杂金属零件的方法 |
GB201616777D0 (en) | 2016-10-03 | 2016-11-16 | Univ Southampton | A frame for an implantable medical device and a method of manufacturing a frame for an implantable medical device |
US10222607B2 (en) * | 2016-12-14 | 2019-03-05 | Canon U.S.A., Inc. | Three-dimensional endoscope |
DE102017103198A1 (de) * | 2017-02-16 | 2018-08-16 | avateramedical GmBH | Vorrichtung zum Festlegen und Wiederauffinden eines Bezugspunkts während eines chirurgischen Eingriffs |
CN110770540B (zh) * | 2017-05-31 | 2024-04-09 | 宝马股份公司 | 用于构建环境模型的方法和装置 |
CN110944595B (zh) * | 2017-06-28 | 2023-11-24 | 直观外科手术操作公司 | 用于将内窥镜图像数据集映射到三维体积上的系统 |
CN107595387B (zh) | 2017-07-28 | 2020-08-07 | 浙江大学 | 一种基于超声拓片技术的脊椎图像生成系统以及脊柱手术导航定位系统 |
US11173048B2 (en) | 2017-11-07 | 2021-11-16 | Howmedica Osteonics Corp. | Robotic system for shoulder arthroplasty using stemless implant components |
US11432945B2 (en) | 2017-11-07 | 2022-09-06 | Howmedica Osteonics Corp. | Robotic system for shoulder arthroplasty using stemless implant components |
US11241285B2 (en) | 2017-11-07 | 2022-02-08 | Mako Surgical Corp. | Robotic system for shoulder arthroplasty using stemless implant components |
WO2019113254A1 (en) * | 2017-12-06 | 2019-06-13 | The Trustees Of The University Of Pennsylvania | Three-dimensional printing from images |
US11875440B2 (en) * | 2018-02-05 | 2024-01-16 | Jay Wright | Systems and methods for animation |
CN108644698A (zh) * | 2018-05-09 | 2018-10-12 | 金华职业技术学院 | 仿真石头装饰灯结构及制造工艺 |
DE102018113580A1 (de) * | 2018-06-07 | 2019-12-12 | Christoph Karl | Verfahren und vorrichtung zur herstellung eines implantats |
US11172184B2 (en) | 2018-12-13 | 2021-11-09 | Covidien Lp | Systems and methods for imaging a patient |
US11801113B2 (en) * | 2018-12-13 | 2023-10-31 | Covidien Lp | Thoracic imaging, distance measuring, and notification system and method |
US11617493B2 (en) | 2018-12-13 | 2023-04-04 | Covidien Lp | Thoracic imaging, distance measuring, surgical awareness, and notification system and method |
CN110384561A (zh) * | 2019-07-05 | 2019-10-29 | 北京万特福医疗器械有限公司 | 一种无框架定位仪定位支架 |
US20210045824A1 (en) * | 2019-08-15 | 2021-02-18 | Auris Health, Inc. | Axial motion drive devices, systems, and methods for a robotic medical system |
CN111091562B (zh) * | 2019-12-23 | 2020-12-01 | 山东大学齐鲁医院 | 一种消化道病灶大小测量方法及系统 |
US11944395B2 (en) * | 2020-09-08 | 2024-04-02 | Verb Surgical Inc. | 3D visualization enhancement for depth perception and collision avoidance |
WO2022091211A1 (ja) * | 2020-10-27 | 2022-05-05 | リバーフィールド株式会社 | 手術支援装置 |
WO2023052881A1 (en) * | 2021-09-28 | 2023-04-06 | Auris Health, Inc. | Real-time 3d robotic status |
DE102022130075A1 (de) * | 2022-11-14 | 2024-05-16 | B. Braun New Ventures GmbH | Kavitätsmodellierungssystem und Kavitätsmodellierungsverfahren |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0630896A (ja) * | 1992-05-27 | 1994-02-08 | Internatl Business Mach Corp <Ibm> | 外科的治療方法及び装置 |
WO2006080076A1 (ja) * | 2005-01-28 | 2006-08-03 | Saga University | 三次元画像検出装置 |
JP2006305332A (ja) * | 2005-03-28 | 2006-11-09 | Hiroshima Industrial Promotion Organization | 画像処理装置およびそれを用いた内視鏡 |
US20070276501A1 (en) * | 2006-05-25 | 2007-11-29 | Spinemedica Corp. | Patient-specific spinal implants and related systems and methods |
WO2010122145A1 (en) * | 2009-04-25 | 2010-10-28 | Siemens Aktiengesellschaft | A method and a system for assessing the relative pose of an implant and a bone of a creature |
JP2011528252A (ja) * | 2008-07-17 | 2011-11-17 | ネーデルランツ オルガニサティー フォール トゥーゲパストナトゥールヴェテンシャッペリーク オンデルズーク テーエンオー | ユーザによる3次元環境の検査のためのシステム、方法およびコンピュータプログラム |
JP2012518517A (ja) * | 2009-02-24 | 2012-08-16 | ライト メディカル テクノロジー インコーポレイテッド | 患者特有外科案内位置決め器及び台 |
WO2013073061A1 (ja) * | 2011-11-15 | 2013-05-23 | Suzuki Naoki | 撮影装置及び撮影システム |
Family Cites Families (163)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH04176429A (ja) | 1990-11-09 | 1992-06-24 | Olympus Optical Co Ltd | 内視鏡 |
JP3217386B2 (ja) | 1991-04-24 | 2001-10-09 | オリンパス光学工業株式会社 | 診断システム |
US5603318A (en) | 1992-04-21 | 1997-02-18 | University Of Utah Research Foundation | Apparatus and method for photogrammetric surgical localization |
AT399647B (de) | 1992-07-31 | 1995-06-26 | Truppe Michael | Anordnung zur darstellung des inneren von körpern |
JPH06160087A (ja) | 1992-11-20 | 1994-06-07 | Matsushita Electric Ind Co Ltd | 画像を用いた距離測定方法及びその装置 |
US5860934A (en) | 1992-12-21 | 1999-01-19 | Artann Corporation | Method and device for mechanical imaging of breast |
US5394455A (en) * | 1993-04-30 | 1995-02-28 | The Regents Of The University Of California | Digitally aided microfluoroscopy and fluorospot system and method of using the same |
JPH07240945A (ja) | 1994-02-25 | 1995-09-12 | Matsushita Electric Ind Co Ltd | 仮想空間生成提示装置 |
DE4434539C2 (de) | 1994-09-27 | 1998-06-04 | Luis Dr Med Schuster | Verfahren zur Herstellung einer Endoprothese als Gelenkersatz bei Kniegelenken |
JP3599854B2 (ja) | 1995-10-09 | 2004-12-08 | オリンパス株式会社 | 医療用顔面装着型映像表示装置 |
US6346940B1 (en) | 1997-02-27 | 2002-02-12 | Kabushiki Kaisha Toshiba | Virtualized endoscope system |
JPH11309A (ja) | 1997-06-12 | 1999-01-06 | Hitachi Ltd | 画像処理装置 |
JP2958458B1 (ja) | 1998-08-26 | 1999-10-06 | 防衛庁技術研究本部長 | 多眼画像センサ |
US6659939B2 (en) | 1998-11-20 | 2003-12-09 | Intuitive Surgical, Inc. | Cooperative minimally invasive telesurgical system |
US6522906B1 (en) | 1998-12-08 | 2003-02-18 | Intuitive Surgical, Inc. | Devices and methods for presenting and regulating auxiliary information on an image display of a telesurgical system to assist an operator in performing a surgical procedure |
US7343195B2 (en) | 1999-05-18 | 2008-03-11 | Mediguide Ltd. | Method and apparatus for real time quantitative three-dimensional image reconstruction of a moving organ and intra-body navigation |
US6503195B1 (en) | 1999-05-24 | 2003-01-07 | University Of North Carolina At Chapel Hill | Methods and systems for real-time structured light depth extraction and endoscope using real-time structured light depth extraction |
US6517478B2 (en) | 2000-03-30 | 2003-02-11 | Cbyon, Inc. | Apparatus and method for calibrating an endoscope |
US6468203B2 (en) | 2000-04-03 | 2002-10-22 | Neoguide Systems, Inc. | Steerable endoscope and improved method of insertion |
JP2002024807A (ja) | 2000-07-07 | 2002-01-25 | National Institute Of Advanced Industrial & Technology | 物体運動追跡手法及び記録媒体 |
JP4451968B2 (ja) | 2000-07-11 | 2010-04-14 | Hoya株式会社 | 3次元画像入力装置 |
US6650927B1 (en) | 2000-08-18 | 2003-11-18 | Biosense, Inc. | Rendering of diagnostic imaging data on a three-dimensional map |
JP2002171537A (ja) | 2000-11-30 | 2002-06-14 | Canon Inc | 複眼撮像系、撮像装置および電子機器 |
JP3888975B2 (ja) * | 2001-04-26 | 2007-03-07 | 帝人株式会社 | 3次元関節構造計測方法 |
DE10138537B4 (de) | 2001-08-06 | 2006-07-06 | Siemens Ag | Taktiles Feedback zur Darstellung von Gewebeelastizität |
US8175680B2 (en) | 2001-11-09 | 2012-05-08 | Boston Scientific Scimed, Inc. | Systems and methods for guiding catheters using registered images |
JP3751568B2 (ja) | 2002-02-21 | 2006-03-01 | 株式会社サタケ | 内視鏡における空気噴流診断装置 |
US9155544B2 (en) | 2002-03-20 | 2015-10-13 | P Tech, Llc | Robotic systems and methods |
JP3927487B2 (ja) * | 2002-12-02 | 2007-06-06 | 株式会社大野興業 | 人工骨モデルの製造方法 |
FR2855292B1 (fr) | 2003-05-22 | 2005-12-09 | Inst Nat Rech Inf Automat | Dispositif et procede de recalage en temps reel de motifs sur des images, notamment pour le guidage par localisation |
JP4414682B2 (ja) | 2003-06-06 | 2010-02-10 | オリンパス株式会社 | 超音波内視鏡装置 |
DE10340546B4 (de) | 2003-09-01 | 2006-04-20 | Siemens Ag | Verfahren und Vorrichtung zur visuellen Unterstützung einer elektrophysiologischen Katheteranwendung im Herzen |
JP2005087468A (ja) | 2003-09-17 | 2005-04-07 | Shoji Kawahito | 距離画像計測機能を有する撮像装置及び内視鏡装置 |
JP4229791B2 (ja) | 2003-09-19 | 2009-02-25 | 真 金子 | 内視鏡装置 |
US7746377B2 (en) | 2003-11-28 | 2010-06-29 | Topcon Corporation | Three-dimensional image display apparatus and method |
US7901348B2 (en) | 2003-12-12 | 2011-03-08 | University Of Washington | Catheterscope 3D guidance and interface system |
DE102004008164B3 (de) * | 2004-02-11 | 2005-10-13 | Karl Storz Gmbh & Co. Kg | Verfahren und Vorrichtung zum Erstellen zumindest eines Ausschnitts eines virtuellen 3D-Modells eines Körperinnenraums |
US7289106B2 (en) | 2004-04-01 | 2007-10-30 | Immersion Medical, Inc. | Methods and apparatus for palpation simulation |
US20050254720A1 (en) | 2004-05-17 | 2005-11-17 | Kar-Han Tan | Enhanced surgical visualizations with multi-flash imaging |
WO2006018837A2 (en) * | 2004-08-17 | 2006-02-23 | Technion Research & Development Foundation Ltd. | Ultrasonic image-guided tissue-damaging procedure |
US7424088B2 (en) * | 2004-09-29 | 2008-09-09 | Kabushiki Kaisha Toshiba | Image reconstruction method using Hilbert transform |
JP2006109939A (ja) | 2004-10-12 | 2006-04-27 | Chinontec Kk | 内視鏡装置 |
EP1832223B1 (en) | 2004-12-27 | 2017-10-25 | Olympus Corporation | Medical image processing apparatus, and medical image processing method |
US20100312129A1 (en) | 2005-01-26 | 2010-12-09 | Schecter Stuart O | Cardiovascular haptic handle system |
US7752920B2 (en) | 2005-12-30 | 2010-07-13 | Intuitive Surgical Operations, Inc. | Modular force sensor |
US7312448B2 (en) * | 2005-04-06 | 2007-12-25 | Carl Zeiss Nts Gmbh | Method and apparatus for quantitative three-dimensional reconstruction in scanning electron microscopy |
EP1875310B1 (en) | 2005-04-27 | 2013-03-06 | Obducat AB | Means for transferring a pattern to an object |
US9789608B2 (en) | 2006-06-29 | 2017-10-17 | Intuitive Surgical Operations, Inc. | Synthetic representation of a surgical robot |
US8073528B2 (en) | 2007-09-30 | 2011-12-06 | Intuitive Surgical Operations, Inc. | Tool tracking systems, methods and computer products for image guided surgery |
US9492240B2 (en) | 2009-06-16 | 2016-11-15 | Intuitive Surgical Operations, Inc. | Virtual measurement tool for minimally invasive surgery |
US8108072B2 (en) | 2007-09-30 | 2012-01-31 | Intuitive Surgical Operations, Inc. | Methods and systems for robotic instrument tool tracking with adaptive fusion of kinematics information and image information |
US9289267B2 (en) | 2005-06-14 | 2016-03-22 | Siemens Medical Solutions Usa, Inc. | Method and apparatus for minimally invasive surgery using endoscopes |
US9661991B2 (en) | 2005-08-24 | 2017-05-30 | Koninklijke Philips N.V. | System, method and devices for navigated flexible endoscopy |
JP2009507617A (ja) | 2005-09-14 | 2009-02-26 | ネオガイド システムズ, インコーポレイテッド | 経腔的及び他の操作を行うための方法及び装置 |
US8079950B2 (en) | 2005-09-29 | 2011-12-20 | Intuitive Surgical Operations, Inc. | Autofocus and/or autoscaling in telesurgery |
EP3155998B1 (en) | 2005-10-20 | 2021-03-31 | Intuitive Surgical Operations, Inc. | Auxiliary image display and manipulation on a computer display in a medical robotic system |
US7907166B2 (en) | 2005-12-30 | 2011-03-15 | Intuitive Surgical Operations, Inc. | Stereo telestration for robotic surgery |
CN100450445C (zh) * | 2006-01-11 | 2009-01-14 | 中国科学院自动化研究所 | 一种实时自由臂三维超声成像系统及其方法 |
DE102006002001B4 (de) | 2006-01-16 | 2009-07-23 | Sensomotoric Instruments Gmbh | Verfahren zur Bestimmung der räumlichen Relation eines Auges einer Person bezüglich einer Kameravorrichtung |
IL181470A (en) | 2006-02-24 | 2012-04-30 | Visionsense Ltd | Method and system for navigation within a flexible organ in the human body |
US20070236514A1 (en) | 2006-03-29 | 2007-10-11 | Bracco Imaging Spa | Methods and Apparatuses for Stereoscopic Image Guided Surgical Navigation |
US9718190B2 (en) | 2006-06-29 | 2017-08-01 | Intuitive Surgical Operations, Inc. | Tool position and identification indicator displayed in a boundary area of a computer display screen |
GB0613576D0 (en) * | 2006-07-10 | 2006-08-16 | Leuven K U Res & Dev | Endoscopic vision system |
WO2008017051A2 (en) | 2006-08-02 | 2008-02-07 | Inneroptic Technology Inc. | System and method of providing real-time dynamic imagery of a medical procedure site using multiple modalities |
DE602007007340D1 (de) | 2006-08-21 | 2010-08-05 | Sti Medical Systems Llc | Computergestützte analyse mit hilfe von videodaten aus endoskopen |
US7824328B2 (en) | 2006-09-18 | 2010-11-02 | Stryker Corporation | Method and apparatus for tracking a surgical instrument during surgery |
US8496575B2 (en) | 2006-11-14 | 2013-07-30 | Olympus Corporation | Measuring endoscope apparatus, program and recording medium |
WO2008063856A2 (en) | 2006-11-17 | 2008-05-29 | Salada Mark A | Haptic interface device and method for using such |
DE602006019314D1 (de) | 2006-12-15 | 2011-02-10 | Ao Technology Ag | Vorrichtung für die computergestützte distale arretierung von marknägeln |
US20100149183A1 (en) | 2006-12-15 | 2010-06-17 | Loewke Kevin E | Image mosaicing systems and methods |
EP1952752B2 (de) | 2007-01-31 | 2019-10-16 | Richard Wolf GmbH | Endoskopsystem |
US8672836B2 (en) | 2007-01-31 | 2014-03-18 | The Penn State Research Foundation | Method and apparatus for continuous guidance of endoscopy |
CN100594840C (zh) * | 2007-05-18 | 2010-03-24 | 深圳先进技术研究院 | 一种跟踪体内微型装置的方法 |
US20100281370A1 (en) | 2007-06-29 | 2010-11-04 | Janos Rohaly | Video-assisted margin marking for dental models |
US20090025910A1 (en) * | 2007-07-27 | 2009-01-29 | Paul Hoffman | Vapor chamber structure with improved wick and method for manufacturing the same |
US20090076476A1 (en) | 2007-08-15 | 2009-03-19 | Hansen Medical, Inc. | Systems and methods employing force sensing for mapping intra-body tissue |
FR2920085B1 (fr) | 2007-08-24 | 2012-06-15 | Univ Grenoble 1 | Systeme d'imagerie pour l'observation tridimensionnelle d'un champ operatoire |
US20090133260A1 (en) * | 2007-11-26 | 2009-05-28 | Ios Technologies, Inc | 3D dental shade matching and apparatus |
US20100111389A1 (en) | 2007-12-06 | 2010-05-06 | Siemens Medical Solutions Usa, Inc. | System and method for planning and guiding percutaneous procedures |
US20090157059A1 (en) | 2007-12-14 | 2009-06-18 | Searete Llc, A Limited Liability Corporation Of The State Of Delaware | Surgical instrument navigation system |
JP2009204991A (ja) | 2008-02-28 | 2009-09-10 | Funai Electric Co Ltd | 複眼撮像装置 |
US20090221908A1 (en) | 2008-03-01 | 2009-09-03 | Neil David Glossop | System and Method for Alignment of Instrumentation in Image-Guided Intervention |
DE102008018636B4 (de) | 2008-04-11 | 2011-01-05 | Storz Endoskop Produktions Gmbh | Vorrichtung und Verfahren zur endoskopischen 3D-Datenerfassung |
EP3876510A1 (en) | 2008-05-20 | 2021-09-08 | FotoNation Limited | Capturing and processing of images using monolithic camera array with heterogeneous imagers |
US8866920B2 (en) | 2008-05-20 | 2014-10-21 | Pelican Imaging Corporation | Capturing and processing of images using monolithic camera array with heterogeneous imagers |
US8636653B2 (en) | 2008-06-09 | 2014-01-28 | Capso Vision, Inc. | In vivo camera with multiple sources to illuminate tissue at different distances |
US8334900B2 (en) | 2008-07-21 | 2012-12-18 | The Hong Kong University Of Science And Technology | Apparatus and method of optical imaging for medical diagnosis |
BRPI0803388A2 (pt) * | 2008-08-14 | 2010-06-15 | Petroleo Brasileiro Sa | sistema estereoscópico endoscópico |
JP5435916B2 (ja) | 2008-09-18 | 2014-03-05 | 富士フイルム株式会社 | 電子内視鏡システム |
JP4702569B2 (ja) | 2008-09-30 | 2011-06-15 | マツダ株式会社 | 車両用画像処理装置 |
EP2348954A1 (en) | 2008-10-20 | 2011-08-03 | Koninklijke Philips Electronics N.V. | Image-based localization method and system |
US8594841B2 (en) | 2008-12-31 | 2013-11-26 | Intuitive Surgical Operations, Inc. | Visual force feedback in a minimally invasive surgical procedure |
US9978288B2 (en) | 2009-02-13 | 2018-05-22 | University Of Florida Research Foundation, Inc. | Communication and skills training using interactive virtual humans |
US8690776B2 (en) | 2009-02-17 | 2014-04-08 | Inneroptic Technology, Inc. | Systems, methods, apparatuses, and computer-readable media for image guided surgery |
US10004387B2 (en) | 2009-03-26 | 2018-06-26 | Intuitive Surgical Operations, Inc. | Method and system for assisting an operator in endoscopic navigation |
US9060713B2 (en) | 2009-04-07 | 2015-06-23 | Regents Of The University Of Minnesota | Sensing tissue properties |
EP2429400B1 (en) | 2009-05-14 | 2014-01-01 | University Health Network | Quantitative endoscopy |
EP2437676A1 (en) | 2009-06-01 | 2012-04-11 | Koninklijke Philips Electronics N.V. | Distance-based position tracking method and system |
WO2010144405A2 (en) | 2009-06-08 | 2010-12-16 | Surgivision, Inc. | Mri-guided surgical systems with proximity alerts |
EP2442718B1 (en) | 2009-06-16 | 2018-04-25 | MRI Interventions, Inc. | Mri-guided devices and mri-guided interventional systems that can track and generate dynamic visualizations of the devices in near real time |
US10026016B2 (en) | 2009-06-26 | 2018-07-17 | Regents Of The University Of Minnesota | Tracking and representation of multi-dimensional organs |
US8696456B2 (en) * | 2009-07-29 | 2014-04-15 | Activision Publishing, Inc. | Music-based video game with user physical performance |
ES2353099B1 (es) | 2009-07-30 | 2012-01-02 | Fundacion Para Progreso Soft Computing | Método y sistema de identificación forense por superposición craneofacial basado en soft computing. |
US20110032088A1 (en) | 2009-08-10 | 2011-02-10 | Electronics And Telecommunications Research Institute | Method of encoding haptic information on image, method of decoding haptic information from image and apparatus of processing haptic information for the same |
WO2011055245A1 (en) * | 2009-11-04 | 2011-05-12 | Koninklijke Philips Electronics N.V. | Collision avoidance and detection using distance sensors |
WO2011063347A2 (en) | 2009-11-20 | 2011-05-26 | Pelican Imaging Corporation | Capturing and processing of images using monolithic camera array with heterogeneous imagers |
US11699247B2 (en) | 2009-12-24 | 2023-07-11 | Cognex Corporation | System and method for runtime determination of camera miscalibration |
US9436280B2 (en) | 2010-01-07 | 2016-09-06 | Qualcomm Incorporated | Simulation of three-dimensional touch sensation using haptics |
WO2011086431A1 (en) | 2010-01-13 | 2011-07-21 | Koninklijke Philips Electronics N.V. | Image integration based registration and navigation for endoscopic surgery |
CN102781303A (zh) | 2010-02-01 | 2012-11-14 | 塞拉芬·尼盖茨·伊图瓦 | 球形胶囊视频内窥镜检查 |
DE102010006741A1 (de) | 2010-02-03 | 2011-08-04 | Friedrich-Alexander-Universität Erlangen-Nürnberg, 91054 | Verfahren zum Verarbeiten eines Endoskopiebildes |
JP5421828B2 (ja) | 2010-03-17 | 2014-02-19 | 富士フイルム株式会社 | 内視鏡観察支援システム、並びに、内視鏡観察支援装置、その作動方法およびプログラム |
JP2011200515A (ja) | 2010-03-26 | 2011-10-13 | Hoya Corp | 触覚センサを備える電子内視鏡及び電子内視鏡システム |
JP5432793B2 (ja) * | 2010-03-29 | 2014-03-05 | オリンパス株式会社 | 蛍光内視鏡装置 |
JP2013523415A (ja) * | 2010-04-14 | 2013-06-17 | スミス アンド ネフュー インコーポレーテッド | 患者立脚型コンピュータ支援外科的処置のためのシステムおよび方法 |
BR112012031606B1 (pt) | 2010-06-11 | 2020-11-10 | Ethicon Llc | distribuidor de sutura |
EP2613727A4 (en) | 2010-09-10 | 2014-09-10 | Univ Johns Hopkins | VISUALIZING A RECORDED UNDERGROUND ANATOMY WITH REFERENCE TO RELATED APPLICATIONS |
CN103108602B (zh) | 2010-09-15 | 2015-09-30 | 皇家飞利浦电子股份有限公司 | 从血管树图像对内窥镜的机器人控制 |
DE102010050227A1 (de) | 2010-11-04 | 2012-05-10 | Siemens Aktiengesellschaft | Endoskop mit 3D-Funktionalität |
JP6027091B2 (ja) | 2011-04-07 | 2016-11-16 | 3シェイプ アー/エス | 物体を誘導する3dシステム及び方法 |
US20120265062A1 (en) | 2011-04-13 | 2012-10-18 | St. Jude Medical, Inc. | Optical coherence tomography catheter for elastographic property mapping of lumens utilizing micropalpation |
WO2012155143A1 (en) | 2011-05-12 | 2012-11-15 | Olive Medical Corporation | Image sensor with tolerance optimizing interconnects |
US8900131B2 (en) | 2011-05-13 | 2014-12-02 | Intuitive Surgical Operations, Inc. | Medical system providing dynamic registration of a model of an anatomical structure for image-guided surgery |
JP5830270B2 (ja) | 2011-05-24 | 2015-12-09 | オリンパス株式会社 | 内視鏡装置および計測方法 |
KR20130015146A (ko) | 2011-08-02 | 2013-02-13 | 삼성전자주식회사 | 의료 영상 처리 방법 및 장치, 영상 유도를 이용한 로봇 수술 시스템 |
US8784301B2 (en) | 2011-08-12 | 2014-07-22 | Intuitive Surgical Operations, Inc. | Image capture unit and method with an extended depth of field |
US10866783B2 (en) | 2011-08-21 | 2020-12-15 | Transenterix Europe S.A.R.L. | Vocally activated surgical control system |
US20140228632A1 (en) | 2011-08-21 | 2014-08-14 | M.S.T. Medical Surgery Technologies Ltd. | Device and method for assisting laparoscopic surgery - rule based approach |
US9204939B2 (en) | 2011-08-21 | 2015-12-08 | M.S.T. Medical Surgery Technologies Ltd. | Device and method for assisting laparoscopic surgery—rule based approach |
US10052157B2 (en) | 2011-08-21 | 2018-08-21 | M.S.T. Medical Surgery Technologies Ltd | Device and method for assisting laparoscopic surgery—rule based approach |
US9883788B2 (en) | 2011-09-13 | 2018-02-06 | Visionsense Ltd. | Proximal high definition endoscope |
DE102011119608B4 (de) | 2011-11-29 | 2021-07-29 | Karl Storz Se & Co. Kg | Vorrichtung und Verfahren zur endoskopischen 3D-Datenerfassung |
EP2793688A4 (en) | 2011-12-19 | 2015-05-06 | Univ California | SYSTEM AND METHOD FOR QUANTIFYING BODILY PALPATION FOR THE IMPROVEMENT OF MEDICAL DIAGNOSIS |
WO2013095830A1 (en) * | 2011-12-22 | 2013-06-27 | Mimedx Group Inc. | Cross-linked dehydrated placental tissue grafts and methods for making and using the same |
JP5918548B2 (ja) | 2012-01-24 | 2016-05-18 | 富士フイルム株式会社 | 内視鏡画像診断支援装置およびその作動方法並びに内視鏡画像診断支援プログラム |
US20130211244A1 (en) | 2012-01-25 | 2013-08-15 | Surgix Ltd. | Methods, Devices, Systems, Circuits and Associated Computer Executable Code for Detecting and Predicting the Position, Orientation and Trajectory of Surgical Tools |
WO2013116240A1 (en) | 2012-01-30 | 2013-08-08 | Inneroptic Technology, Inc. | Multiple medical device guidance |
US9092996B2 (en) | 2012-03-01 | 2015-07-28 | Simquest Llc | Microsurgery simulator |
WO2013134782A1 (en) | 2012-03-09 | 2013-09-12 | The Johns Hopkins University | Photoacoustic tracking and registration in interventional ultrasound |
US20130250081A1 (en) | 2012-03-21 | 2013-09-26 | Covidien Lp | System and method for determining camera angles by using virtual planes derived from actual images |
CN102636130B (zh) * | 2012-04-19 | 2014-07-09 | 中国科学院光电技术研究所 | 一种大动态范围测量非球面光学元件表面轮廓装置 |
WO2013160893A1 (en) | 2012-04-23 | 2013-10-31 | Yissum Research Development Company Of The Hebrew University Of Jerusalem Ltd. | A device for rehabilitating brain mechanism of visual perception using complementary sensual stimulations |
WO2013165558A1 (en) * | 2012-05-03 | 2013-11-07 | DePuy Synthes Products, LLC | Surgical guides from scanned implant data |
US10013082B2 (en) | 2012-06-05 | 2018-07-03 | Stuart Schecter, LLC | Operating system with haptic interface for minimally invasive, hand-held surgical instrument |
US9220570B2 (en) | 2012-06-29 | 2015-12-29 | Children's National Medical Center | Automated surgical and interventional procedures |
JP5745178B2 (ja) | 2012-06-29 | 2015-07-08 | 富士フイルム株式会社 | 3次元測定方法、装置及びシステム、並びに画像処理装置 |
JP5676058B1 (ja) | 2013-03-06 | 2015-02-25 | オリンパスメディカルシステムズ株式会社 | 内視鏡システム及び内視鏡システムの作動方法 |
WO2014160510A2 (en) | 2013-03-13 | 2014-10-02 | Massachusetts Institute Of Technology | Photometric stereo endoscopy |
US9456752B2 (en) | 2013-03-14 | 2016-10-04 | Aperture Diagnostics Ltd. | Full-field three-dimensional surface measurement |
CN103269430A (zh) | 2013-04-16 | 2013-08-28 | 上海上安机电设计事务所有限公司 | 基于bim的三维场景生成方法 |
CN103356155B (zh) * | 2013-06-24 | 2014-12-31 | 清华大学深圳研究生院 | 虚拟内窥镜辅助的腔体病灶检查系统 |
US20150062299A1 (en) | 2013-08-30 | 2015-03-05 | The Regents Of The University Of California | Quantitative 3d-endoscopy using stereo cmos-camera pairs |
US10022914B2 (en) * | 2013-11-12 | 2018-07-17 | Adobe Systems Incorporated | Method and apparatus for automatically adding utility holes to printable 3-dimensional models |
JP6644466B2 (ja) | 2013-12-31 | 2020-02-12 | イマージョン コーポレーションImmersion Corporation | 触覚通知を提供するシステム及び方法 |
WO2015106118A1 (en) | 2014-01-09 | 2015-07-16 | Sonitec Llc | Systems and methods using ultrasound for treatment |
US10130329B2 (en) | 2014-01-28 | 2018-11-20 | General Electric Company | Distinct needle display in ultrasonic image |
KR102237597B1 (ko) | 2014-02-18 | 2021-04-07 | 삼성전자주식회사 | 수술 로봇용 마스터 장치 및 그 제어 방법 |
US9197885B2 (en) | 2014-03-20 | 2015-11-24 | Gopro, Inc. | Target-less auto-alignment of image sensors in a multi-camera system |
KR102387096B1 (ko) | 2014-03-28 | 2022-04-15 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 시계 내의 기기들의 정량적 3차원 시각화 |
KR20160138502A (ko) | 2014-03-28 | 2016-12-05 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 정량적인 3차원 모델의 3차원 영상과의 정렬 |
EP3125806B1 (en) | 2014-03-28 | 2023-06-14 | Intuitive Surgical Operations, Inc. | Quantitative three-dimensional imaging of surgical scenes |
EP3125809B1 (en) | 2014-03-28 | 2020-09-09 | Intuitive Surgical Operations, Inc. | Surgical system with haptic feedback based upon quantitative three-dimensional imaging |
EP3125807B1 (en) | 2014-03-28 | 2022-05-04 | Intuitive Surgical Operations, Inc. | Quantitative three-dimensional imaging of surgical scenes from multiport perspectives |
-
2015
- 2015-03-28 EP EP15767964.8A patent/EP3122281B1/en active Active
- 2015-03-28 WO PCT/US2015/023213 patent/WO2015149043A1/en active Application Filing
- 2015-03-28 CN CN201580024438.6A patent/CN106456271B/zh active Active
- 2015-03-28 JP JP2017502951A patent/JP2017517355A/ja active Pending
- 2015-03-28 CN CN201910501350.9A patent/CN110251047B/zh active Active
- 2015-03-28 US US15/300,262 patent/US10350009B2/en active Active
- 2015-03-28 KR KR1020167029745A patent/KR102405687B1/ko active IP Right Grant
-
2020
- 2020-01-29 JP JP2020012254A patent/JP7433932B2/ja active Active
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0630896A (ja) * | 1992-05-27 | 1994-02-08 | Internatl Business Mach Corp <Ibm> | 外科的治療方法及び装置 |
WO2006080076A1 (ja) * | 2005-01-28 | 2006-08-03 | Saga University | 三次元画像検出装置 |
JP2006305332A (ja) * | 2005-03-28 | 2006-11-09 | Hiroshima Industrial Promotion Organization | 画像処理装置およびそれを用いた内視鏡 |
US20070276501A1 (en) * | 2006-05-25 | 2007-11-29 | Spinemedica Corp. | Patient-specific spinal implants and related systems and methods |
JP2011528252A (ja) * | 2008-07-17 | 2011-11-17 | ネーデルランツ オルガニサティー フォール トゥーゲパストナトゥールヴェテンシャッペリーク オンデルズーク テーエンオー | ユーザによる3次元環境の検査のためのシステム、方法およびコンピュータプログラム |
JP2012518517A (ja) * | 2009-02-24 | 2012-08-16 | ライト メディカル テクノロジー インコーポレイテッド | 患者特有外科案内位置決め器及び台 |
WO2010122145A1 (en) * | 2009-04-25 | 2010-10-28 | Siemens Aktiengesellschaft | A method and a system for assessing the relative pose of an implant and a bone of a creature |
WO2013073061A1 (ja) * | 2011-11-15 | 2013-05-23 | Suzuki Naoki | 撮影装置及び撮影システム |
Also Published As
Publication number | Publication date |
---|---|
WO2015149043A1 (en) | 2015-10-01 |
CN106456271A (zh) | 2017-02-22 |
KR102405687B1 (ko) | 2022-06-07 |
CN106456271B (zh) | 2019-06-28 |
JP2020073001A (ja) | 2020-05-14 |
EP3122281B1 (en) | 2022-07-20 |
CN110251047A (zh) | 2019-09-20 |
CN110251047B (zh) | 2022-01-18 |
US10350009B2 (en) | 2019-07-16 |
KR20160141772A (ko) | 2016-12-09 |
EP3122281A1 (en) | 2017-02-01 |
US20170181798A1 (en) | 2017-06-29 |
EP3122281A4 (en) | 2018-05-23 |
JP7433932B2 (ja) | 2024-02-20 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP7433932B2 (ja) | 定量的3次元イメージング及び手術用インプラントのプリント | |
JP7204663B2 (ja) | 慣性計測装置を使用して手術の正確度を向上させるためのシステム、装置、及び方法 | |
KR101572487B1 (ko) | 환자와 3차원 의료영상의 비침습 정합 시스템 및 방법 | |
JP2017513662A (ja) | Q3d画像の3d画像とのアライメント | |
JP6609616B2 (ja) | マルチポートの視点からの手術シーンの定量的な3次元イメージング | |
JP6883222B2 (ja) | 画像処理装置、画像処理方法、プログラム及び手術用ナビゲーションシステム | |
US8849015B2 (en) | System and apparatus for haptically enabled three-dimensional scanning | |
WO2015149044A1 (en) | Surgical system with haptic feedback based upon quantitative three-dimensional imaging | |
KR101772187B1 (ko) | 이미지 데이터의 입체적 묘사를 위한 방법 및 디바이스 | |
CN106572887A (zh) | X射线套件中的图像整合和机器人内窥镜控制 | |
CN112533556A (zh) | 用于计算机辅助外科手术的系统方法以及计算机程序产品 | |
CN112741689B (zh) | 应用光扫描部件来实现导航的方法及系统 | |
KR20160057024A (ko) | 마커리스 3차원 객체추적 장치 및 그 방법 | |
CN111281534A (zh) | 生成手术部位的三维模型的系统和方法 | |
US20230015717A1 (en) | Anatomical scanning, targeting, and visualization | |
AU2022349022A1 (en) | Anatomical scanning, targeting, and visualization | |
WO2024056531A1 (en) | Medical image processing apparatus for generating a dynamic image of a patient | |
Yamazaki et al. | Improvement of dental fiberscope navigation system for endodontic treatments |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20180320 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20190129 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20190125 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20190507 |
|
A02 | Decision of refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A02 Effective date: 20191001 |