JP5581042B2 - 物体を追跡するシステム - Google Patents
物体を追跡するシステム Download PDFInfo
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- JP5581042B2 JP5581042B2 JP2009265886A JP2009265886A JP5581042B2 JP 5581042 B2 JP5581042 B2 JP 5581042B2 JP 2009265886 A JP2009265886 A JP 2009265886A JP 2009265886 A JP2009265886 A JP 2009265886A JP 5581042 B2 JP5581042 B2 JP 5581042B2
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- 238000003384 imaging method Methods 0.000 claims description 35
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- 230000005355 Hall effect Effects 0.000 description 1
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- 230000004424 eye movement Effects 0.000 description 1
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- 230000004907 flux Effects 0.000 description 1
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- 208000014018 liver neoplasm Diseases 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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Images
Classifications
-
- 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
- A61B6/12—Arrangements for detecting or locating foreign bodies
-
- 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
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
-
- 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
- A61B2034/2072—Reference field transducer attached to an instrument or patient
-
- 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
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
- A61B6/4435—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure
- A61B6/4441—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure the rigid structure being a C-arm or U-arm
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Surgery (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Physics & Mathematics (AREA)
- Biophysics (AREA)
- Pathology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- High Energy & Nuclear Physics (AREA)
- Optics & Photonics (AREA)
- Radiology & Medical Imaging (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Endoscopes (AREA)
Description
105 参照センサ
110 第一の追跡用センサ
112 第二の追跡用センサ
115 追跡用電子部品
202 有線送信器
204 無線送信器
206 有線受信器
208 無線受信器
210 有線送受信器
212 無線送受信器
232 有線送信器
234 無線送信器
236 有線受信器
238 無線受信器
240 有線送受信器
242 無線送受信器
300 追跡システム
302 参照センサ
305 第一の追跡用センサ
307 第二の追跡用センサ
310 第三の追跡用センサ
320 追跡用電子部品
400 術中撮像及び追跡システム
402 撮像用線源
404 撮像用検出器
406 追跡システム
408 処理ユニット
500 術中撮像及び追跡システム
505 撮像装置
510 追跡システム
515 処理ユニット
520 X線源
522 Cアーム
524 X線検出器
525 患者
528 患者配置システム
530 物体
535 追跡用センサ
540 参照センサ
545 追跡用電子部品
Claims (10)
- 患者の体内に配置されている複数の物体を追跡する追跡システム(100)であって、
受信器及び送受信器の両方を含む参照センサ(105)と、
移動する第一の物体に結合されており、送信器である第一の追跡用センサ(110)と、
移動する第二の物体に結合されており、受信器である第二の追跡用センサ(112)と、
前記参照センサ(105)、並びに前記追跡用センサ(110)及び(112)の各々に結合されており、前記参照センサ(105)と前記追跡用センサ(110)及び(112)の各々との間の関係に基づいて前記参照センサ(105)に対する前記追跡用センサ(110)及び(112)の各々の位置及び配向を決定するように構成されている追跡用電子部品(115)と
を備えている、
追跡システム(100)。 - 前記第一の追跡用センサ(110)は無線送信器であり、前記第二の追跡用センサ(112)は無線受信器である、請求項1に記載の追跡システム(100)。
- 前記参照センサ(105)は無線受信器と無線送信器を含む、請求項1または2に記載の追跡システム(100)。
- 前記受信器及び前記送信器の各々は、1又は複数のコイルを含み、
前記追跡用電子部品(115)は、前記第一の追跡用センサ(110)、前記第二の追跡用センサ(112)及び前記参照センサ(105)の各々の間の相互インダクタンス比、並びに/又は前記参照センサ(105)において発生される電流及び/若しくは磁場の比を決定して、前記参照センサ(105)に関する前記第一の追跡用センサ(110)及び前記第二の追跡用センサ(112)の各々の位置を決定する、請求項1乃至3のいずれかに記載の追跡システム(100)。 - 前記参照センサ(105)は、前記患者に結合されている、請求項1乃至4のいずれかに記載の追跡システム(100)。
- 前記参照センサ(105)は、患者配置システム及び撮像装置の一つに結合されている、請求項1乃至4のいずれかに記載の追跡システム(100)。
- 前記患者に取り付けられた付加的な参照センサを備える、請求項6に記載の追跡システム(100)。
- 前記参照センサ(105)は、
第一の平面に配置された受信器アレイと、
第二の平面に配置された送信器アレイとを含み、
前記参照センサ(105)の前記送信器アレイは、選択される周波数においてドライバによって駆動される、請求項6または7に記載の追跡システム(100)。 - 前記参照センサ(105)は、
PCBの平面に垂直な方向に隔設された第一及び第二のPCBを含み
前記第一のPCBが受信器アレイとして作用するように構成され、
前記第二のPCBが送信器アレイとして作用するように構成され、
前記送信器アレイ及び前記受信器アレイを互いに交換されて作動される、
請求項6または7に記載の追跡システム(100)。 - X線源(520)とX線検出器(524)を含むCアーム(522)を有する撮像装置(505)と、
請求項1乃至9のいずれかに記載の追跡システム(100)と、
前記撮像装置(505)と前記追跡システム(100)に結合された処理ユニット(515)とを備え、
前記Cアーム(522)は前記患者の周囲を移動して、様々な角度から前記患者の三次元投影画像を形成し、前記患者の三次元画像は、前記参照センサを介して大域参照に位置揃えされる撮像及び追跡システム(500)。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US12/323,137 | 2008-11-25 | ||
US12/323,137 US20100130853A1 (en) | 2008-11-25 | 2008-11-25 | System for tracking object |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2010125326A JP2010125326A (ja) | 2010-06-10 |
JP5581042B2 true JP5581042B2 (ja) | 2014-08-27 |
Family
ID=42114792
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2009265886A Active JP5581042B2 (ja) | 2008-11-25 | 2009-11-24 | 物体を追跡するシステム |
Country Status (3)
Country | Link |
---|---|
US (1) | US20100130853A1 (ja) |
JP (1) | JP5581042B2 (ja) |
DE (1) | DE102009044642A1 (ja) |
Families Citing this family (26)
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US8284234B2 (en) * | 2009-03-20 | 2012-10-09 | Absolute Imaging LLC | Endoscopic imaging using reflection holographic optical element for autostereoscopic 3-D viewing |
SI2422693T1 (sl) | 2010-08-27 | 2019-02-28 | Roche Diabetes Care Gmbh | Naprava in postopek za izvajanje vsaj ene medicinske funkcije |
US20120209677A1 (en) * | 2010-10-20 | 2012-08-16 | Mehta Kaushal N | Person-2-person social network marketing apparatuses, methods and systems |
US11911117B2 (en) | 2011-06-27 | 2024-02-27 | Board Of Regents Of The University Of Nebraska | On-board tool tracking system and methods of computer assisted surgery |
US9498231B2 (en) | 2011-06-27 | 2016-11-22 | Board Of Regents Of The University Of Nebraska | On-board tool tracking system and methods of computer assisted surgery |
US10219811B2 (en) | 2011-06-27 | 2019-03-05 | Board Of Regents Of The University Of Nebraska | On-board tool tracking system and methods of computer assisted surgery |
US10438176B2 (en) | 2011-07-17 | 2019-10-08 | Visa International Service Association | Multiple merchant payment processor platform apparatuses, methods and systems |
US10318941B2 (en) | 2011-12-13 | 2019-06-11 | Visa International Service Association | Payment platform interface widget generation apparatuses, methods and systems |
WO2013090611A2 (en) * | 2011-12-13 | 2013-06-20 | Visa International Service Association | Dynamic widget generator apparatuses, methods and systems |
US8618795B1 (en) * | 2012-06-29 | 2013-12-31 | General Electric Company | Sensor assembly for use in medical position and orientation tracking |
US20140203947A1 (en) * | 2013-01-20 | 2014-07-24 | Alan Haddy | Storage and recall of buried asset data over communications networks for damage avoidance and mapping |
US9008757B2 (en) | 2012-09-26 | 2015-04-14 | Stryker Corporation | Navigation system including optical and non-optical sensors |
CN104008486B (zh) * | 2012-12-06 | 2017-05-03 | 索尼电脑娱乐美国有限责任公司 | 用于共享数字对象的系统和方法 |
US10105149B2 (en) | 2013-03-15 | 2018-10-23 | Board Of Regents Of The University Of Nebraska | On-board tool tracking system and methods of computer assisted surgery |
EP2967521B1 (en) * | 2013-03-15 | 2019-12-25 | SRI International | Electromechanical surgical system |
US9411010B2 (en) * | 2013-10-03 | 2016-08-09 | Massachusetts Institute Of Technology | System for introspection and annotation of electronic design data |
WO2015087206A1 (en) * | 2013-12-12 | 2015-06-18 | Koninklijke Philips N.V. | Method and system for electromagnetic tracking with magnetic trackers for respiratory monitoring |
JP6615110B2 (ja) * | 2014-03-04 | 2019-12-04 | ザクト ロボティクス リミテッド | 対象の関心領域における画像誘導による針挿入手順を術前に計画する方法及びシステム |
WO2015172826A1 (en) * | 2014-05-14 | 2015-11-19 | Brainlab Ag | Method for determining the spatial position of objects |
US11216468B2 (en) | 2015-02-08 | 2022-01-04 | Visa International Service Association | Converged merchant processing apparatuses, methods and systems |
EP4194880A1 (en) * | 2015-03-05 | 2023-06-14 | Atracsys Sàrl | Redundant reciprocal tracking system |
US11058446B2 (en) * | 2016-09-14 | 2021-07-13 | Biosense Webster (Israel) Ltd. | ENT tool antenna |
US20190192280A1 (en) * | 2017-12-21 | 2019-06-27 | Biosense Webster (Israel) Ltd. | System for Adjusting the Shape of a Breast Implant |
EP3636140A1 (en) * | 2018-10-10 | 2020-04-15 | Koninklijke Philips N.V. | System and method for sensor positioning and placement for a sensor arrangement |
WO2022169803A1 (en) * | 2021-02-02 | 2022-08-11 | Medtronic Navigation, Inc. | Systems for improved electromagnetic tracking |
EP4308029A1 (en) * | 2021-03-18 | 2024-01-24 | Medtronic Navigation, Inc. | Systems and methods for improved electromagnetic tracking |
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-
2008
- 2008-11-25 US US12/323,137 patent/US20100130853A1/en not_active Abandoned
-
2009
- 2009-11-24 JP JP2009265886A patent/JP5581042B2/ja active Active
- 2009-11-24 DE DE102009044642A patent/DE102009044642A1/de not_active Withdrawn
Also Published As
Publication number | Publication date |
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DE102009044642A1 (de) | 2010-05-27 |
JP2010125326A (ja) | 2010-06-10 |
US20100130853A1 (en) | 2010-05-27 |
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