JP2018509949A - 動的基準点アレイ及び使用方法 - Google Patents
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Abstract
Description
本出願は、2013年6月21日に出願された「Surgical Robot Platform」という名称の米国特許出願第13/924,505号の一部継続出願であり、当該特許出願第13/924,505号は、2012年6月21日に出願された米国仮特許出願第61/662,702号に基づく優先権を主張する仮出願である2013年3月15日に出願された米国特許出願第61/800,527号の本出願である。なお、これらの文献は参照によって、その全体が本明細書に援用されるものとする。
[背景技術]
実施形態は、外科的なナビゲーション手法を対象とし、より詳しくは、実施形態は、放射線不透過性の基準マーカまたは追跡マーカとし得る複数の作動部材を含む動的基準点アレイを対象とする。
[発明の概要]
当該技術分野における、これら及び他の必要性は、一実施形態において対処される。そこにおいて、動的基準点アレイは、足場、足場に連結される複数のマーカ、及び回動機構を有する足場に連結される取付部材を備え、該取付部材は、取付部材に対する足場の移動を可能にしつつ、動的基準点アレイを患者に固定するように構成される。他の実施態様においては、動的基準点アレイを用いて、動的基準点アレイを患者に取り付けることと、動的基準点アレイ上の足場が第1の位置にある間に患者を走査することと、患者の解剖学的構造に対して動的基準点アレイを位置合わせすることと、動的基準点アレイが患者に取り付けられたままである間へと足場を移動させることとを含むことができる、方法に取り組む。
[図面の簡単な説明]
本発明の好ましい実施形態の詳細な説明のために、ここで添付の図面を参照する。
[発明を実施するための形態]
動的基準点アレイは、本明細書において、「DRA」と呼ぶが、ナビゲートされる外科的手技の間に一時的に患者に取り付けられる剛体である。それらの目的は、DRAに埋め込まれている追跡マーカの位置を3次元位置測定システムが追跡できるようにし、それによって、関連する解剖学的構造のリアルタイムな位置を追跡することにある。そのような追跡が有益なデータを提供することができる前に必要となり得るステップは、解剖学的構造を位置合わせすることであり得、それにより、解剖学的構造の座標系(例えば、3次元CT走査空間)から追跡システムの座標系への変換を定めることができる。位置合わせの方法を以下に簡単に説明する。
Claims (20)
- 動的基準点アレイであって、
足場と、
前記足場に連結された複数のマーカと、
回動機構により前記足場に連結された取付部材と、を備え、前記取付部材は、前記取付部材に対する前記動的基準点アレイの移動を可能にしつつ、前記動的基準点アレイを患者に固定するように構成されている、動的基準点アレイ。 - 前記マーカは、放射線不透過性マーカまたは赤外線マーカとすることができる、請求項1に記載の動的基準点アレイ。
- 前記マーカのうちの少なくとも一部は、放射線不透過性マーカ及び赤外線マーカの両方である、請求項1に記載の動的基準点アレイ。
- 前記回動機構は、玉継手、ヒンジピン、またはスライド機構を含んでいる、請求項1に記載の動的基準点アレイ。
- 前記回動機構は、ヒンジピンである、請求項1に記載の動的基準点アレイ。
- 前記取付部材は、クランプを含んでいる、請求項1に記載の動的基準点アレイ。
- 前記取付部材は、患者へ取り付けのための2つのポストを含んでいる、請求項1に記載の動的基準点アレイ。
- 前記2つのポストは、前記ポストを前記足場に連結する球状特徴部を有しており、前記球状特徴部が前記回動機構の一部を形成している、請求項7に記載の動的基準点アレイ。
- 前記1つ以上のマーカが他のマーカに対して移動するように構成されるように、前記マーカは、前記足場と前記取付機構に連結されたマーカを含む、請求項1に記載の動的基準点アレイ。
- 動的基準点アレイを用いる方法であって、
前記動的基準点アレイを患者に取り付けることと、
前記動的基準点アレイの足場が第1の位置にある間に前記患者を走査することと、
前記患者の解剖学的構造に対して前記動的基準点アレイを位置合わせすることと、
前記動的基準点アレイが前記患者に取り付けられたままである間に前記足場を第2の位置に移動させることと、を含む、方法。 - 外科的に前記患者の棘状突起を露出させることを更に含む、請求項10に記載の方法。
- 前記動的基準点アレイを前記患者に取り付けることは、前記動的基準点アレイを前記患者の棘状突起上にクランプすることを含む、請求項10に記載の方法。
- 前記動的基準点アレイを前記患者に取り付けることは、患者に柱を固定することを含む、請求項10に記載の方法。
- 前記足場は、前記第1の位置においては前記患者に沿って略水平に置かれ、前記第2の位置においては直立位置に配置される、請求項10に記載の方法。
- 前記足場を第2の位置に移動させることは、1つ以上のマーカを1つ以上の他のマーカに対して移動させることを含む、請求項10に記載の方法。
- 前記足場は、複数のマーカを備えている、請求項10に記載の方法。
- 前記マーカは、放射線不透過性マーカまたは赤外線マーカとすることができる、請求項15に記載の方法。
- 前記マーカの少なくとも一部は、放射線不透過性マーカ及び赤外線マーカの両方である、請求項15に記載の方法。
- 前記患者を走査することは、CT走査、X線、またはMRI走査を用いて行われる、請求項10に記載の方法。
- 前記動的基準点アレイは、足場が移動する間にガイドにより支援される、請求項10に記載の方法。
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US14/602,723 US11116576B2 (en) | 2012-06-21 | 2015-01-22 | Dynamic reference arrays and methods of use |
US14/602,723 | 2015-01-22 | ||
PCT/US2016/014316 WO2016118744A1 (en) | 2015-01-22 | 2016-01-21 | Dynamic reference arrays and methods of use |
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JP2018509949A true JP2018509949A (ja) | 2018-04-12 |
JP6789953B2 JP6789953B2 (ja) | 2020-11-25 |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2021532882A (ja) * | 2018-08-01 | 2021-12-02 | ブレイン ナビ バイオテクノロジー カンパニー リミテッド | 手術中の患者の位置を追跡する方法とシステム |
JP2022070834A (ja) * | 2020-10-27 | 2022-05-13 | グローバス メディカル インコーポレイティッド | ロボットナビゲーションシステム |
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AU2017340607B2 (en) | 2016-10-05 | 2022-10-27 | Nuvasive, Inc. | Surgical navigation system and related methods |
US10251724B2 (en) | 2017-05-02 | 2019-04-09 | Synaptive Medical (Barbados) Inc. | Vertebral reference clamp |
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US11116576B2 (en) | 2021-09-14 |
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US20150209119A1 (en) | 2015-07-30 |
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