JP2023520602A - 二次元医用画像ベースの脊椎手術計画装置及び方法 - Google Patents
二次元医用画像ベースの脊椎手術計画装置及び方法 Download PDFInfo
- Publication number
- JP2023520602A JP2023520602A JP2022560938A JP2022560938A JP2023520602A JP 2023520602 A JP2023520602 A JP 2023520602A JP 2022560938 A JP2022560938 A JP 2022560938A JP 2022560938 A JP2022560938 A JP 2022560938A JP 2023520602 A JP2023520602 A JP 2023520602A
- Authority
- JP
- Japan
- Prior art keywords
- image
- spinal
- solid
- spine
- dimensional
- 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
- 238000001356 surgical procedure Methods 0.000 title claims abstract description 66
- 238000000034 method Methods 0.000 title claims abstract description 48
- 239000007787 solid Substances 0.000 claims abstract description 87
- 238000003780 insertion Methods 0.000 claims abstract description 44
- 230000037431 insertion Effects 0.000 claims abstract description 44
- 238000002059 diagnostic imaging Methods 0.000 claims abstract description 23
- 230000008569 process Effects 0.000 claims description 17
- 238000013170 computed tomography imaging Methods 0.000 abstract description 4
- 238000002591 computed tomography Methods 0.000 description 9
- 230000003287 optical effect Effects 0.000 description 9
- 238000004422 calculation algorithm Methods 0.000 description 8
- 230000008859 change Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 206010073306 Exposure to radiation Diseases 0.000 description 5
- 239000003550 marker Substances 0.000 description 5
- 238000004590 computer program Methods 0.000 description 4
- 238000013135 deep learning Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000010801 machine learning Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 230000001678 irradiating effect Effects 0.000 description 3
- 238000002432 robotic surgery Methods 0.000 description 3
- 230000037237 body shape Effects 0.000 description 2
- 238000013527 convolutional neural network Methods 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002250 progressing effect Effects 0.000 description 1
- 210000000278 spinal cord Anatomy 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
- A61F2/4603—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor for insertion or extraction of endoprosthetic joints or of accessories thereof
- A61F2/4611—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor for insertion or extraction of endoprosthetic joints or of accessories thereof of spinal prostheses
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
-
- 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
-
- 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
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/1662—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body
- A61B17/1671—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body for the spine
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B2017/568—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor produced with shape and dimensions specific for an individual patient
-
- 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
- A61B34/10—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
- 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
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
-
- 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
- A61B2034/2055—Optical tracking systems
-
- 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
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
-
- 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
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
- A61B2090/066—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring torque
-
- 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
-
- 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
- A61B2090/367—Correlation of different images or relation of image positions in respect to the body creating a 3D dataset from 2D images using position information
-
- 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
-
- 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
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/44—Joints for the spine, e.g. vertebrae, spinal discs
- A61F2/4455—Joints for the spine, e.g. vertebrae, spinal discs for the fusion of spinal bodies, e.g. intervertebral fusion of adjacent spinal bodies, e.g. fusion cages
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2002/30001—Additional features of subject-matter classified in A61F2/28, A61F2/30 and subgroups thereof
- A61F2002/30003—Material related properties of the prosthesis or of a coating on the prosthesis
- A61F2002/3006—Properties of materials and coating materials
- A61F2002/3008—Properties of materials and coating materials radio-opaque, e.g. radio-opaque markers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
- A61F2002/4632—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor using computer-controlled surgery, e.g. robotic surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
- A61F2002/4632—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor using computer-controlled surgery, e.g. robotic surgery
- A61F2002/4633—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor using computer-controlled surgery, e.g. robotic surgery for selection of endoprosthetic joints or for pre-operative planning
-
- 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
- G06T2207/30012—Spine; Backbone
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Transplantation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Theoretical Computer Science (AREA)
- Robotics (AREA)
- Neurology (AREA)
- Cardiology (AREA)
- Vascular Medicine (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physical Education & Sports Medicine (AREA)
- Pathology (AREA)
- Geometry (AREA)
- Software Systems (AREA)
- Computer Graphics (AREA)
- Radiology & Medical Imaging (AREA)
- Gynecology & Obstetrics (AREA)
- Apparatus For Radiation Diagnosis (AREA)
- Surgical Instruments (AREA)
Abstract
Description
Claims (14)
- 医用画像撮影装置を介して患者の二次元の脊椎画像を取得するステップと、
前記脊椎画像に対する画像空間と患者の脊椎手術が進行される手術空間とを整合して、前記画像空間上の座標と前記手術空間上の座標との間の整合関係を算出するステップと、
前記手術空間に仮想の立体図形を生成するステップと、
前記整合関係を基に前記立体図形を前記脊椎画像上に投影するステップと、
前記立体図形が前記脊椎画像上の既定のランドマークに対応するように前記立体図形を調整するステップと、
前記脊椎画像と前記立体図形を基に脊椎プロテーゼの挿入位置及び経路を設定するステップと、を含むことを特徴とする脊椎手術計画方法。 - 前記立体図形を調整するステップは、前記脊椎画像上に投影された立体図形に対するユーザの入力を基に前記立体図形の形状、大きさ及び位置の中の少なくとも1つを調整することを特徴とする請求項1に記載の脊椎手術計画方法。
- 前記脊椎プロテーゼの挿入位置及び経路を設定するステップは、互いに異なるビュー方向にそれぞれ対応する複数の脊椎画像を基に行われることを特徴とする請求項1に記載の脊椎手術計画方法。
- 前記互いに異なるビュー方向にそれぞれ対応する複数の脊椎画像は、AP(Anterior-Posterior)画像とLL(Lateral-Lateral)画像とを含むことを特徴とする請求項3に記載の脊椎手術計画方法。
- 前記脊椎プロテーゼの挿入位置及び経路を設定するステップは、ユーザ入力部を介したユーザの入力を基に前記脊椎プロテーゼの挿入位置及び経路を設定することを特徴とする請求項1に記載の脊椎手術計画方法。
- 前記立体図形を調整するステップは、前記立体図形が前記脊椎画像上に投影されて形成された図形の境界が前記脊椎画像上の脊椎体の境界に対応するように前記立体図形を調整することを特徴とする請求項1に記載の脊椎手術計画方法。
- 前記立体図形は柱状であることを特徴とする請求項1に記載の脊椎手術計画方法。
- 前記立体図形を調整するステップは、前記柱状の底面の中心を通る前記底面上の第1の軸と垂直をなす前記柱状の側面上の第1の線が前記脊椎画像上の棘突起の中心線に揃えられるように前記立体図形を調整することを特徴とする請求項7に記載の脊椎手術計画方法。
- 前記脊椎画像上に前記脊椎プロテーゼの挿入基準となる基準点を設定するステップをさらに含み、
前記脊椎プロテーゼの挿入位置及び経路を設定するステップは、前記基準点を基に前記脊椎プロテーゼの挿入位置または挿入経路の許容範囲を制限することを特徴とする請求項1に記載の脊椎手術計画方法。 - 前記立体図形を生成するステップは、
前記脊椎画像で脊椎体の位置を検出し、検出された前記脊椎体に対応する位置に前記立体図形を生成することを特徴とする請求項1に記載の脊椎手術計画方法。 - 前記立体図形を生成するステップは、
脊椎体の特性に応じた前記立体図形の大きさ、形状及び高さの中の少なくともいずれか1つの属性を定義したライブラリを基に前記脊椎画像で認識された前記脊椎体の特性に対応する前記立体図形を生成することを特徴とする請求項1に記載の脊椎手術計画方法。 - 医用画像撮影装置を介して撮影された患者の二次元の脊椎画像を格納するメモリ部と、
前記脊椎画像に対する画像空間と患者の脊椎手術が進行される手術空間とを整合して、前記画像空間上の座標と手術空間上の座標との間の整合関係を算出する整合部と、
前記手術空間に仮想の立体図形を生成し、前記整合関係を基に前記立体図形を前記脊椎画像上に投影する図形生成部と、
前記立体図形が前記脊椎画像上の既定のランドマークに対応するように前記立体図形を調整する図形調整部と、
前記脊椎画像と前記立体図を基に脊椎プロテーゼの挿入位置及び経路を設定する計画部と、を含むことを特徴とする脊椎手術計画装置。 - 前記脊椎画像と、前記脊椎画像に投影された前記立体図形と、を表示する表示部をさらに含むことを特徴とする請求項12に記載の脊椎手術計画装置。
- 前記整合関係を基に前記立体図形に対する3次元画像を生成する3Dビュー生成部をさらに含み、
前記計画部は、前記整合関係を基に前記脊椎画像と前記三次元画像の中のいずれか1つの画像内の前記脊椎プロテーゼに対する変更事項が相互に反映されるように制御することを特徴とする請求項12に記載の脊椎手術計画装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020200041732A KR102394901B1 (ko) | 2020-04-06 | 2020-04-06 | 2차원 의료영상 기반 척추 수술 플래닝 장치 및 방법 |
KR10-2020-0041732 | 2020-04-06 | ||
PCT/KR2021/004099 WO2021206372A1 (ko) | 2020-04-06 | 2021-04-01 | 2차원 의료영상 기반 척추 수술 플래닝 장치 및 방법 |
Publications (1)
Publication Number | Publication Date |
---|---|
JP2023520602A true JP2023520602A (ja) | 2023-05-17 |
Family
ID=78023561
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2022560938A Pending JP2023520602A (ja) | 2020-04-06 | 2021-04-01 | 二次元医用画像ベースの脊椎手術計画装置及び方法 |
Country Status (6)
Country | Link |
---|---|
US (1) | US11666458B2 (ja) |
EP (1) | EP4134034A4 (ja) |
JP (1) | JP2023520602A (ja) |
KR (1) | KR102394901B1 (ja) |
CN (1) | CN115426967A (ja) |
WO (1) | WO2021206372A1 (ja) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11980506B2 (en) | 2019-07-29 | 2024-05-14 | Augmedics Ltd. | Fiducial marker |
US20230008222A1 (en) * | 2021-07-12 | 2023-01-12 | Nuvasive, Inc. | Systems and methods for surgical navigation |
KR102612603B1 (ko) | 2022-11-02 | 2023-12-12 | 큐렉소 주식회사 | 2d-3d 이미지 정합 방법 및 이를 수행하는 수술용 로봇 시스템 |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4423959B2 (ja) * | 2003-12-16 | 2010-03-03 | 株式会社島津製作所 | 断層撮影装置 |
EP1734878B1 (en) * | 2004-02-20 | 2011-10-19 | Hector O. Pacheco | Method for determining the size of pedicle screws |
KR100726022B1 (ko) | 2005-10-26 | 2007-06-12 | 한양대학교 산학협력단 | 복수의 2차원 영상을 이용한 3차원 수술공간 계측 시스템및 그 방법 |
KR100964649B1 (ko) * | 2007-10-24 | 2010-06-22 | (주)바텍이우홀딩스 | 엑스 레이 씨티 촬영 장치에서 중심축 이동에 기인된배율을 보정하는 방법 |
KR100964644B1 (ko) * | 2007-10-24 | 2010-06-25 | (주)바텍이우홀딩스 | 엑스 레이 씨티 촬영 장치의 중심축 이동을 보정하는 방법 |
KR101264198B1 (ko) | 2012-01-31 | 2013-05-14 | 포항공과대학교 산학협력단 | 삼차원 모델을 이용한 자동 수술 계획 시스템 및 이를 이용한 수술 계획 방법 |
US11089975B2 (en) * | 2017-03-31 | 2021-08-17 | DePuy Synthes Products, Inc. | Systems, devices and methods for enhancing operative accuracy using inertial measurement units |
KR102367989B1 (ko) | 2017-09-08 | 2022-02-28 | 삼성디스플레이 주식회사 | 디스플레이 장치 |
KR102105974B1 (ko) * | 2018-02-09 | 2020-04-29 | 고려대학교 산학협력단 | 의료 영상 시스템 |
KR102203544B1 (ko) | 2019-03-13 | 2021-01-18 | 큐렉소 주식회사 | C-arm 기반의 의료영상 시스템 및 2D 이미지와 3D 공간의 정합방법 |
-
2020
- 2020-04-06 KR KR1020200041732A patent/KR102394901B1/ko active IP Right Grant
-
2021
- 2021-04-01 JP JP2022560938A patent/JP2023520602A/ja active Pending
- 2021-04-01 WO PCT/KR2021/004099 patent/WO2021206372A1/ko unknown
- 2021-04-01 CN CN202180026919.6A patent/CN115426967A/zh active Pending
- 2021-04-01 US US17/917,166 patent/US11666458B2/en active Active
- 2021-04-01 EP EP21784350.7A patent/EP4134034A4/en active Pending
Also Published As
Publication number | Publication date |
---|---|
WO2021206372A1 (ko) | 2021-10-14 |
KR20210123912A (ko) | 2021-10-14 |
US11666458B2 (en) | 2023-06-06 |
EP4134034A4 (en) | 2024-04-24 |
CN115426967A (zh) | 2022-12-02 |
EP4134034A1 (en) | 2023-02-15 |
US20230127917A1 (en) | 2023-04-27 |
KR102394901B1 (ko) | 2022-05-09 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US20220401162A1 (en) | Hand controller for robotic surgery system | |
US11896318B2 (en) | Methods and systems for controlling a surgical robot | |
US11751948B2 (en) | Methods and systems for robot-assisted surgery | |
US10130430B2 (en) | No-touch surgical navigation method and system thereof | |
JP2023520602A (ja) | 二次元医用画像ベースの脊椎手術計画装置及び方法 | |
JP2020518315A (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 | |
JP7399982B2 (ja) | 手術中の3次元可視化 | |
US20200261155A1 (en) | Image based robot guidance | |
US20140171962A1 (en) | Registration and navigation using a three-dimensional tracking sensor | |
JP7351915B2 (ja) | ロボット装置のモーションプログラミング | |
US20220351385A1 (en) | Systems and methods for anatomical segmentation | |
US20220287776A1 (en) | Systems and methods for performance of external body wall data and internal depth data-based performance of operations associated with a computer-assisted surgical system | |
KR102612603B1 (ko) | 2d-3d 이미지 정합 방법 및 이를 수행하는 수술용 로봇 시스템 | |
US11751827B2 (en) | Method and system for determining the configuration of a medical imaging system | |
US20200397517A1 (en) | Hand controller for robotic surgery system | |
JP2022526540A (ja) | 整形外科的固定制御及び可視化 | |
CN117320655A (zh) | 用于机器人辅助手术的装置、方法和系统 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20221005 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20231004 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20231010 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20240109 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20240402 |