JP5741885B2 - 物体の空間位置そして/または空間方位の非接触決定及び測定用システムと方法、特に医療器具に関するパターン又は構造体を含む特に医療器具の較正及び試験方法 - Google Patents
物体の空間位置そして/または空間方位の非接触決定及び測定用システムと方法、特に医療器具に関するパターン又は構造体を含む特に医療器具の較正及び試験方法 Download PDFInfo
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Description
2、102、402、602、702、802、902、1002、1102:移動可能追跡システム
3、103、203、303、603、1103:構造体
4、1104:骨
5:第1カメラ
6:更なるカメラ
7:第1光源
8:更なる光源
9:ハンドル
10:作動スイッチ
11、1011:分析・表示装置
11A、1011A:通信接続
12: 第1パターン
13:第1探知器
14:更なる構造体
15、25、26:更なるパターン
16、616:骨探知器
17、1017:局部作業領域
18、118、418、618:逆反射型球体
20、212、312、520、612、620、715、815、915、1012、1112:パターン
21:再分割
22:光学的再分割
23:線
105、405、605:カメラ
112:道具構造体パターン
113、413:道具構造体探知器
130、430:医療道具
131、431:道具先端
132:道具パターン
133:取り付けスタンド
134、434:道具端部
135、435:道具探知器
240、640、740、840、940:骨部
241:第1支持
242:第2支持
243:第3支持
244:ネジ
350:目印
351:皮膚
352:漏斗型凹み
353:磁石
354:強磁性材
355:手術布
461:変形可能部
460:道具挿入物
561A:第1変形可能要素
561B:第2変形可能要素
565:移植片
566:第1再分割
567:第2再分割
568:第3再分割
670:鏡
671:マークした骨
672:識別器
705、805、905:3台のカメラ
714:骨構造体
775:光学式スキャナ
776、881: 光線
777、877、977:3台の活性LED
814:骨構造体
880:プロジェクタ
883、983、1083:第2パターン
914:第1骨構造体
985:超音波変換器ヘッド
986:音響パルス
1003:付帯構造体
1005、1007:第1光源、小型カメラ
1006、1008: 第2光源、小型カメラ
1090:医療器具
1090A:ドリルビット
1090B:ドリルチップ
1090C:ドリル軸
1091:光学窓角
1092:顎領域
1094:鋳型
1094A:鋳型パターン
1095:下顎
1096:開始位置
1097:X線照射により骨と歯を三次元的に測定する装置
1117:作業の局部領域
1200:小型開口
Claims (15)
- 複数の物体の位置特定及び識別を行い、物体間の相対的な位置関係を確立する移動式光学追跡システムによる、非接触式位置特定、及び物体の相対空間位置及び相対空間方位の測定、のための測定用システムが、
(a)手動での再設置及び移動式での使用に適した、光学系およびセンサを含む前記移動式光学追跡システムの少なくとも一部と、
(b)前記移動式光学追跡システムに含まれる少なくとも2台のカメラと、
(c)第1構造体上の少なくとも1つの第1パターン及び、第2構造体上の少なくとも1つの第2パターンと、
を含み、
(d)前記第1及び第2構造体がそれぞれ、第1及び第2の物体に取り付けられ、
(e)前記少なくとも1つの第1パターン及び前記少なくとも1つの第2パターンが、前記移動式光学追跡システムにより、認識及び分析可能であり、
(f)前記少なくとも1つの第1パターン及び前記少なくとも1つの第2パターンが、線、円、楕円、三角形、及び長方形、又はこれらの組み合わせからなり、
(g)前記少なくとも1つの第1パターン及び前記少なくとも1つの第2パターンが、前記第1及び第2の物体の相対空間位置及び相対空間方位の測定に適しており、
(h)前記少なくとも1つの第1パターン及び前記少なくとも1つの第2パターンが、前記第1及び第2の物体の認識に適している、
(i)前記移動式光学追跡システムの少なくとも一部、および少なくとも2台の前記カメラは、それぞれ、前記移動式光学追跡システムが作動中および使用中であっても移動可能である、
ことを特徴とする、測定用システム。 - 前記移動式光学追跡システムの少なくとも一部が作動中及び使用中に、前記第1または第2の物体に対し、前記移動式光学追跡システムが携帯可能に保持されることを特徴とする、請求項1に記載の測定用システム。
- 前記移動式光学追跡システムの少なくとも一部が作動中及び使用中に、前記第1または第2の物体に対して、前記移動式光学追跡システムが取り付けられる又は移動可能に保持されることを特徴とする、請求項1に記載の測定用システム。
- 前記移動式光学追跡システムが、空間に自由に、又は前記第1または第2の物体に対して静止状態に配置されることを特徴とする、請求項1に記載の測定用システム。
- 前記移動式光学追跡システムの少なくとも一部が、手動で保持される、又は手動で誘導されるハンドルを含むことを特徴とする、請求項1に記載の測定用システム。
- 前記移動式光学追跡システムが、前記第1及び第2の物体の位置又は方位の取得及び測定を、開始及び持続するためのスイッチ又はボタンを備える作動装置を含むことを特徴とする、請求項1に記載の測定用システム。
- 前記作動装置が、音声制御手段を含むことを特徴とする、請求項6に記載の測定用システム。
- 前記移動式光学追跡システムが、前記第1または第2の物体又は、手動で移動可能なアーム又はロボットアームを含む移動可能誘導機構へ接続するための取付機構を含むことを特徴とする、請求項1に記載の測定用システム。
- 前記移動式光学追跡システムが、無線通信手段を含むことを特徴とする、請求項1に記載の測定用システム。
- 前記移動式光学追跡システムが、赤外範囲の放射スペクトルを有する、少なくとも1つのLEDを含む照明手段を含むことを特徴とする、請求項1に記載の測定用システム。
- 前記少なくとも1つの第1パターンが、規定の位置及び寸法詳細を備えた前記第2パターンと関連付けられることを特徴とする、請求項1に記載の測定用システム。
- 前記第2パターンが、更なる画像システムにより認識できることを特徴とする、請求項11に記載の測定用システム。
- 前記第1構造体が、医療分野の構造体であり、前記第1パターンが、前記第1の物体に関して、既知の位置、又は寸法詳細を備えることを特徴とする、請求項1に記載の測定用システム。
- 前記第1構造体が医療分野の構造体の一部であることを特徴とする、請求項1に記載の測定用システム。
- 前記医療分野の構造体が、変形可能な要素を含むことを特徴とする、請求項14に記載の測定用システム。
Applications Claiming Priority (9)
Application Number | Priority Date | Filing Date | Title |
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DE102005026654A DE102005026654A1 (de) | 2005-06-09 | 2005-06-09 | Vorrichtung und Verfahren zur berührungslosen Vermessung der Geometrie, Raumposition und Raumorientierung von Körpern |
DE102005026654.1 | 2005-06-09 | ||
DE102005056897.1 | 2005-11-28 | ||
DE102005056897 | 2005-11-28 | ||
DE102005057237.5 | 2005-11-29 | ||
DE102005057237 | 2005-11-29 | ||
DE102005062384 | 2005-12-23 | ||
DE102005062384.0 | 2005-12-23 | ||
PCT/EP2006/005498 WO2006131373A2 (de) | 2005-06-09 | 2006-06-08 | Vorrichtung zum berührungslosen ermitteln und vermessen einer raumposition und/oder einer raumorientierung von körpern |
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JP2008541966A JP2008541966A (ja) | 2008-11-27 |
JP5741885B2 true JP5741885B2 (ja) | 2015-07-01 |
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US (1) | US8320612B2 (ja) |
EP (2) | EP1919389A2 (ja) |
JP (1) | JP5741885B2 (ja) |
KR (1) | KR101270912B1 (ja) |
CA (1) | CA2611404C (ja) |
DE (1) | DE112006001514A5 (ja) |
WO (1) | WO2006131373A2 (ja) |
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US8073528B2 (en) | 2007-09-30 | 2011-12-06 | Intuitive Surgical Operations, Inc. | Tool tracking systems, methods and computer products for image guided surgery |
US10555775B2 (en) | 2005-05-16 | 2020-02-11 | Intuitive Surgical Operations, Inc. | Methods and system for performing 3-D tool tracking by fusion of sensor and/or camera derived data during minimally invasive robotic surgery |
US9526587B2 (en) | 2008-12-31 | 2016-12-27 | Intuitive Surgical Operations, Inc. | Fiducial marker design and detection for locating surgical instrument in images |
US9492240B2 (en) | 2009-06-16 | 2016-11-15 | Intuitive Surgical Operations, Inc. | Virtual measurement tool for minimally invasive surgery |
EP1857070A1 (de) * | 2006-05-18 | 2007-11-21 | BrainLAB AG | Kontaktfreie medizintechnische Registrierung mit Distanzmessung |
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WO2006131373A3 (de) | 2007-05-24 |
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EP2377484A1 (de) | 2011-10-19 |
EP2377484B1 (de) | 2015-08-19 |
EP1919389A2 (de) | 2008-05-14 |
KR101270912B1 (ko) | 2013-06-03 |
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CA2611404C (en) | 2016-01-12 |
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