JP6073875B2 - 位置追跡システムを具備した骨操縦用アセンブリ - Google Patents
位置追跡システムを具備した骨操縦用アセンブリ Download PDFInfo
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- 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
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
- A61B17/8866—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices for gripping or pushing bones, e.g. approximators
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- 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
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
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- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/12—Devices for detecting or locating foreign bodies
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- A—HUMAN NECESSITIES
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- 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
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- 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
- G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
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- 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
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- A—HUMAN NECESSITIES
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- 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
- A61B2034/2063—Acoustic tracking systems, e.g. using ultrasound
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B2090/363—Use of fiducial points
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- 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
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- A—HUMAN NECESSITIES
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- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
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- 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
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3904—Markers, e.g. radio-opaque or breast lesions markers specially adapted for marking specified tissue
- A61B2090/3916—Bone tissue
-
- 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
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3937—Visible markers
- A61B2090/3945—Active visible markers, e.g. light emitting diodes
-
- 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
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3954—Markers, e.g. radio-opaque or breast lesions markers magnetic, e.g. NMR or MRI
-
- 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
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/397—Markers, e.g. radio-opaque or breast lesions markers electromagnetic other than visible, e.g. microwave
-
- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10072—Tomographic images
- G06T2207/10081—Computed x-ray tomography [CT]
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- 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
- G06T2207/10132—Ultrasound image
-
- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
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- G06T2207/30004—Biomedical image processing
- G06T2207/30008—Bone
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- G—PHYSICS
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- 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
- G06T2207/30204—Marker
Description
本出願は、2011年6月22日に出願された「Ultrasound CT Registration For Positioning」と題する米国仮特許出願第61/499,849号、及び2011年6月22日に出願された「Ultrasound CT Registration For Positioning」と題する米国仮特許出願第61/499,838号に対する優先権を主張するものであり、その開示内容全体は本明細書に援用されている。
(1) 骨操縦用のアセンブリにおいて、
骨の第1の部分に取り付けられるように構成された第1の操縦要素であって、場所発信シグナル(location emitting signal)を含む、第1の操縦要素と、
骨の第2の部分に取り付けられるように構成された第2の操縦要素であって、前記場所発信シグナルを検出するセンサーを具備し、前記第1及び第2の操縦要素の相互に対する位置及び方向シグナルを提供する、第2の操縦要素と、
前記位置及び方向シグナルを使用して複数の次元における前記第1及び第2の操縦要素の相互に対する動作を追跡するプロセッサを具備する追跡ユニットと、を含む、骨操縦用のアセンブリ。
(2) 前記第1及び第2の操縦要素が、骨の前記第1及び第2の部分それぞれを動かすようにユーザーが握持できる寸法及び形状にされたハンドルを具備する、実施態様1に記載のアセンブリ。
(3) 前記場所発信シグナルが発光アレイである、実施態様1に記載のアセンブリ。
(4) 前記場所発信シグナルが磁界発生器である、実施態様1に記載のアセンブリ。
(5) 前記第2の操縦要素に接続されて、前記第1及び第2の操縦要素の一方の場所を判別する走査ユニットを更に具備する、実施態様1に記載のアセンブリ。
(7) 前記骨の前記表面データに対する前記第1及び第2の操縦要素の一方の場所を表示するディスプレイを更に具備する、実施態様3に記載のアセンブリ。
(8) 前記第1及び第2の操縦要素がマーカーである、実施態様1に記載のアセンブリ。
(9) 操縦用装置において、
骨の一部に取り付けられるように構成されたハンドルであって、前記ハンドルが取り付けられている骨の前記一部を動かすようにユーザーが握持できる寸法及び形状にされた、ハンドルと、
複数の次元における場所シグナルを検出するセンサーと、を具備する、操縦用装置。
(10) 操作用装置において、
骨の一部に取り付けられるように構成されたハンドルであって、前記ハンドルが取り付けられている骨の前記一部を動かすようにユーザーが握持できる寸法及び形状にされた、ハンドルと、
場所シグナルを発信するエミッタアレイであって、前記ハンドルを握持したときに前記アレイが可視になるように前記ハンドル上に配置される、エミッタアレイと、を具備する、操作用装置。
(12) 骨の操作を追跡するための方法において、
第1の操縦要素を骨の第1の部分に取り付けることであって、前記第1の操縦要素が場所シグナルを発信する、ことと、
第2の操縦要素を骨の第2の部分に取り付けることであって、前記第2の操縦要素が前記場所シグナルを検出し、検出された場所を提供する、ことと、
複数の次元における第2の操縦要素に対する第1の操縦要素の位置及び方向を判別することと、
前記発信された場所シグナル及び前記検出された場所における変更を検出して、前記第1及び第2の操縦要素間の相対的な移動を追跡することと、を備える、方法。
(13) 前記表面データに対する前記第1及び第2の操縦要素の場所を表示することを更に備える、実施態様12に記載の方法。
(14) 前記第1及び第2の操縦要素を相互に対して操縦して、前記骨の第1及び第2の部分の動きを示す、操縦される表面画像を生成することを更に備える、実施態様13に記載の方法。
(15) 前記第1及び第2の操縦要素間の相対的な追跡が、発光器具及び磁界発生器の一方を介して実行される、実施態様12に記載の方法。
Claims (9)
- 骨操縦用のアセンブリにおいて、
骨の第1の部分に取り付けられるように構成された第1の操縦要素であって、場所発信シグナルを含む、第1の操縦要素と、
骨の第2の部分に取り付けられるように構成された第2の操縦要素であって、前記場所発信シグナルを検出するセンサーを具備し、前記第1及び第2の操縦要素の相互に対する位置及び方向シグナルを提供する、第2の操縦要素と、
前記位置及び方向シグナルを使用して複数の次元における前記第1及び第2の操縦要素の相互に対する動作を追跡するプロセッサを具備する追跡ユニットと、を含み、
前記第1及び第2の操縦要素が、骨の前記第1及び第2の部分それぞれを動かすようにユーザーが握持できる寸法及び形状にされたハンドルを具備する、請求項1に記載のアセンブリ。
骨操縦用のアセンブリ。 - 前記場所発信シグナルが発光アレイである、請求項1に記載のアセンブリ。
- 前記場所発信シグナルが磁界発生器である、請求項1に記載のアセンブリ。
- 前記第2の操縦要素に接続されて、前記第1及び第2の操縦要素の一方の場所を判別する走査ユニットを更に具備する、請求項1に記載のアセンブリ。
- 前記走査ユニットが、前記第1の操縦要素の前記センサーによって検出されるように固定パターンの陰影を投じる光源を含み、前記走査ユニットに対する前記第1の操縦要素の位置及び方向が判別されるようになっている、請求項4に記載のアセンブリ。
- 前記骨の前記表面データに対する前記第1及び第2の操縦要素の一方の場所を表示するディスプレイを更に具備する、請求項2に記載のアセンブリ。
- 前記第1及び第2の操縦要素がマーカーである、請求項1に記載のアセンブリ。
- 操作用装置において、
骨の一部に取り付けられるように構成されたハンドルであって、前記ハンドルが取り付けられている骨の前記一部を動かすようにユーザーが握持できる寸法及び形状にされた、ハンドルと、
場所シグナルを発信するエミッタアレイであって、前記ハンドルを握持したときに前記アレイが可視になるように前記ハンドル上に配置される、エミッタアレイと、を具備する、操作用装置。 - 前記エミッタアレイが発光ダイオードである、請求項8に記載の装置。
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201161499849P | 2011-06-22 | 2011-06-22 | |
US201161499838P | 2011-06-22 | 2011-06-22 | |
US61/499,838 | 2011-06-22 | ||
US61/499,849 | 2011-06-22 | ||
PCT/US2012/042398 WO2012177475A1 (en) | 2011-06-22 | 2012-06-14 | Assembly for manipulating a bone comprising a position tracking system |
Publications (2)
Publication Number | Publication Date |
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JP2014525766A JP2014525766A (ja) | 2014-10-02 |
JP6073875B2 true JP6073875B2 (ja) | 2017-02-01 |
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JP2014517032A Expired - Fee Related JP6073875B2 (ja) | 2011-06-22 | 2012-06-14 | 位置追跡システムを具備した骨操縦用アセンブリ |
JP2014517028A Expired - Fee Related JP6104902B2 (ja) | 2011-06-22 | 2012-06-14 | 位置決定用超音波ct位置合わせ |
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JP2014517028A Expired - Fee Related JP6104902B2 (ja) | 2011-06-22 | 2012-06-14 | 位置決定用超音波ct位置合わせ |
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US (2) | US9173715B2 (ja) |
EP (2) | EP2723262B1 (ja) |
JP (2) | JP6073875B2 (ja) |
KR (2) | KR101682891B1 (ja) |
CN (2) | CN103607972B (ja) |
BR (2) | BR112013033358A2 (ja) |
CA (2) | CA2840193C (ja) |
TW (2) | TWI574672B (ja) |
WO (2) | WO2012177470A1 (ja) |
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TWI574672B (zh) | 2017-03-21 |
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CA2840193A1 (en) | 2012-12-27 |
KR20140040241A (ko) | 2014-04-02 |
TW201311216A (zh) | 2013-03-16 |
CA2840189A1 (en) | 2012-12-27 |
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EP2723262B1 (en) | 2017-05-17 |
JP2014523293A (ja) | 2014-09-11 |
TW201313201A (zh) | 2013-04-01 |
CA2840189C (en) | 2018-02-27 |
CA2840193C (en) | 2017-11-21 |
CN103607972A (zh) | 2014-02-26 |
BR112013033358A2 (pt) | 2017-02-07 |
CN103619273A (zh) | 2014-03-05 |
US20130150863A1 (en) | 2013-06-13 |
CN103619273B (zh) | 2016-05-25 |
WO2012177475A1 (en) | 2012-12-27 |
EP2723268B1 (en) | 2016-09-14 |
EP2723268A1 (en) | 2014-04-30 |
JP6104902B2 (ja) | 2017-03-29 |
KR101682891B1 (ko) | 2016-12-06 |
TWI625116B (zh) | 2018-06-01 |
US9173715B2 (en) | 2015-11-03 |
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