JP6573608B2 - 医療器具を位置検出システムに接続するためのデバイスおよび方法 - Google Patents
医療器具を位置検出システムに接続するためのデバイスおよび方法 Download PDFInfo
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- JP6573608B2 JP6573608B2 JP2016526561A JP2016526561A JP6573608B2 JP 6573608 B2 JP6573608 B2 JP 6573608B2 JP 2016526561 A JP2016526561 A JP 2016526561A JP 2016526561 A JP2016526561 A JP 2016526561A JP 6573608 B2 JP6573608 B2 JP 6573608B2
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- Prior art keywords
- instrument
- position detection
- positioning element
- detection system
- medical
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Classifications
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00477—Coupling
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00681—Aspects not otherwise provided for
- A61B2017/00725—Calibration or performance testing
-
- 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
- A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
-
- 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
- A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
- A61B2034/207—Divots for calibration
-
- 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
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3983—Reference marker arrangements for use with image guided surgery
Description
12 :シャフト
12a :シャフト遠位領域
12b :把持領域
14 :器具先端部分
14a :先端部分遠位領域
14b :先端部分近位領域
15 :湾曲領域
16 :作動点
18 :ケーブル
20 :位置決め要素
22 :クランプねじ
24 :基準点
26 :コントロールユニット
27 :探索領域
z :円錐軸
Claims (9)
- 器具シャフト、器具先端部分、及び作動点を備える医療器具に保持された位置決め要素の位置を検出するための位置検出システムであって、
前記医療器具を前記位置検出システムに接続するための、前記位置決め要素を有するデバイスを含み、
前記位置検出システムの座標系での当該デバイスの位置情報を検出するための前記位置決め要素が当該デバイスに設けられるように構成され、
当該デバイスが、前記医療器具に取り付けられるための少なくとも1つの保持手段を有し、
前記位置決め要素が、電磁場発生装置から生成される交流電磁場を用いる位置検出装置で使用されるセンサコイルを具備し、
当該デバイスが、前記位置決め要素からの信号を前記位置検出システムのコントロールユニットに伝えるために、前記位置検出システムのコントロールユニットにケーブルによって接続されうるように構成され、
前記位置検出システムは、前記位置決め要素と関連している探索領域を、前記位置決め要素の探索のために適用して、近づけられる基準点の位置が、前記探索領域内に存在するか否かをチェックし、前記デバイスとは別の更なるデバイスである前記基準点の位置が、前記探索領域内にあるときのみ、自動的にキャリブレーションを行うように構成されることを特徴とする位置検出システム。 - 前記保持手段が器具ホルダを備え、
前記医療器具の少なくとも一部が前記器具ホルダに係合可能で、かつ、少なくとも1つの固定手段を用いて前記器具ホルダに締結可能であることを特徴とする請求項1に記載の位置検出システム。 - 前記保持手段がねじ体を備え、
前記ねじ体が、平坦なねじ先端を有し、
前記器具ホルダによって受容される器具シャフト部分に前記ねじ体の先端が押し付けられるように前記ねじ体が前記デバイスにねじ込まれ、
それによって、前記医療器具が前記器具ホルダ内に保持されうるように構成されることを特徴とする請求項2に記載の位置検出システム。 - 前記固定手段が、クランプ装置を有することを特徴とする請求項2または3に記載の位置検出システム。
- 当該デバイスが、前記位置決め要素を保持するためのセンサホルダを備えることを特徴とする請求項1〜4のいずれか1項に記載の位置検出システム。
- 前記位置決め要素が前記保持手段に取り外し不能に設けられていることを特徴とする請求項1〜4のいずれか1項に記載の位置検出システム。
- 前記保持手段が、長手方向に延在するチャネルを有し、
前記チャネルが前記保持手段の両端において開放されており、
前記医療器具の少なくとも前記器具先端部分が前記チャネルを通過できるようにしたことを特徴とする請求項1〜6のいずれか1項に記載の位置検出システム。 - 前記チャネルが実質的に長円形の断面を有することを特徴とする請求項7に記載の位置検出システム。
- 請求項1に記載の位置検出システムを用いて、医療器具に保持された位置決め要素を医療器具の作動点に対してキャリブレーションを行う方法であって、
当該方法において、前記器具先端部分の前記作動点に基準点が近づけられると同時に、前記医療器具に保持された前記位置決め要素の位置及び姿勢を検出することを特徴とし、
前記方法は更に、
前記位置決め要素と関連している探索領域を、前記位置決め要素の探索のために適用するステップと、
近づけられる基準点の位置が、前記探索領域内に存在するか否かをチェックするステップと、
前記更なるデバイスである前記基準点の位置が、前記探査領域内にあるときのみ、自動的にキャリブレーションを行うステップとを含むことを特徴とする方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102013214067.3 | 2013-07-17 | ||
DE102013214067.3A DE102013214067A1 (de) | 2013-07-17 | 2013-07-17 | Vorrichtung und Verfahren zur Anbindung eines medizinischen Instruments an ein Lageerfassungssystem |
PCT/EP2014/065030 WO2015007681A1 (de) | 2013-07-17 | 2014-07-14 | Vorrichtung und verfahren zur anbindung eines medizinischen instruments an ein lageerfassungssystem |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2016526989A JP2016526989A (ja) | 2016-09-08 |
JP6573608B2 true JP6573608B2 (ja) | 2019-09-11 |
Family
ID=51205381
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2016526561A Active JP6573608B2 (ja) | 2013-07-17 | 2014-07-14 | 医療器具を位置検出システムに接続するためのデバイスおよび方法 |
Country Status (8)
Country | Link |
---|---|
US (2) | US20160143700A1 (ja) |
EP (1) | EP3024409B1 (ja) |
JP (1) | JP6573608B2 (ja) |
KR (1) | KR102338060B1 (ja) |
CN (1) | CN105473096B (ja) |
DE (2) | DE102013214067A1 (ja) |
EA (1) | EA032664B1 (ja) |
WO (1) | WO2015007681A1 (ja) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102013222230A1 (de) | 2013-10-31 | 2015-04-30 | Fiagon Gmbh | Chirurgisches Instrument |
DE202015101401U1 (de) | 2015-03-18 | 2015-05-18 | Fiagon Ag Medical Technologies | Lokalisierungsvorrichtung |
US11065064B2 (en) * | 2017-11-14 | 2021-07-20 | Biosense Webster (Israel) Ltd. | Calibration of a rigid ENT tool |
EP3719749A1 (en) | 2019-04-03 | 2020-10-07 | Fiagon AG Medical Technologies | Registration method and setup |
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US8644907B2 (en) * | 1999-10-28 | 2014-02-04 | Medtronic Navigaton, Inc. | Method and apparatus for surgical navigation |
US20010034530A1 (en) * | 2000-01-27 | 2001-10-25 | Malackowski Donald W. | Surgery system |
US7043961B2 (en) * | 2001-01-30 | 2006-05-16 | Z-Kat, Inc. | Tool calibrator and tracker system |
US7166114B2 (en) * | 2002-09-18 | 2007-01-23 | Stryker Leibinger Gmbh & Co Kg | Method and system for calibrating a surgical tool and adapter thereof |
US20050027303A1 (en) * | 2003-06-17 | 2005-02-03 | Lionberger David R. | Pelvic waypoint clamp assembly and method |
US20050187562A1 (en) * | 2004-02-03 | 2005-08-25 | Grimm James E. | Orthopaedic component inserter for use with a surgical navigation system |
US20060161059A1 (en) * | 2005-01-20 | 2006-07-20 | Zimmer Technology, Inc. | Variable geometry reference array |
US20060271056A1 (en) * | 2005-05-10 | 2006-11-30 | Smith & Nephew, Inc. | System and method for modular navigated osteotome |
WO2007129309A1 (en) * | 2006-05-02 | 2007-11-15 | Galil Medical Ltd. | Probe insertion guide with user-directing features |
US20080021317A1 (en) * | 2006-07-24 | 2008-01-24 | Siemens Medical Solutions Usa, Inc. | Ultrasound medical imaging with robotic assistance for volume imaging |
US8067726B2 (en) * | 2007-02-26 | 2011-11-29 | General Electric Company | Universal instrument calibration system and method of use |
US8821511B2 (en) * | 2007-03-15 | 2014-09-02 | General Electric Company | Instrument guide for use with a surgical navigation system |
US20090306499A1 (en) * | 2008-06-09 | 2009-12-10 | Mako Surgical Corp. | Self-detecting kinematic clamp assembly |
US9737235B2 (en) * | 2009-03-09 | 2017-08-22 | Medtronic Navigation, Inc. | System and method for image-guided navigation |
US8504139B2 (en) * | 2009-03-10 | 2013-08-06 | Medtronic Xomed, Inc. | Navigating a surgical instrument |
TW201106917A (en) * | 2009-08-26 | 2011-03-01 | Accumis Inc | Surgical tool calibrating device having electronic sensing moudle |
CN103402450A (zh) * | 2010-12-17 | 2013-11-20 | 阿韦尼尔医药公司 | 用于在外科手术中对准假体的方法及系统 |
DE102010064389B4 (de) * | 2010-12-30 | 2017-02-02 | Siemens Healthcare Gmbh | Halter zur Aufnahme eines länglichen medizinischen Instruments |
-
2013
- 2013-07-17 DE DE102013214067.3A patent/DE102013214067A1/de not_active Withdrawn
- 2013-07-17 DE DE202013012313.3U patent/DE202013012313U1/de not_active Expired - Lifetime
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2014
- 2014-07-14 EP EP14739420.9A patent/EP3024409B1/de active Active
- 2014-07-14 US US14/903,381 patent/US20160143700A1/en active Pending
- 2014-07-14 KR KR1020167001667A patent/KR102338060B1/ko active IP Right Grant
- 2014-07-14 EA EA201690235A patent/EA032664B1/ru not_active IP Right Cessation
- 2014-07-14 CN CN201480040066.1A patent/CN105473096B/zh active Active
- 2014-07-14 JP JP2016526561A patent/JP6573608B2/ja active Active
- 2014-07-14 WO PCT/EP2014/065030 patent/WO2015007681A1/de active Application Filing
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2021
- 2021-11-05 US US17/520,391 patent/US20220257322A1/en active Pending
Also Published As
Publication number | Publication date |
---|---|
CN105473096B (zh) | 2019-08-30 |
KR20160030950A (ko) | 2016-03-21 |
CN105473096A (zh) | 2016-04-06 |
DE202013012313U1 (de) | 2016-02-25 |
KR102338060B1 (ko) | 2021-12-14 |
EA201690235A1 (ru) | 2016-06-30 |
US20220257322A1 (en) | 2022-08-18 |
US20160143700A1 (en) | 2016-05-26 |
EP3024409A1 (de) | 2016-06-01 |
EA032664B1 (ru) | 2019-06-28 |
EP3024409B1 (de) | 2023-01-11 |
DE102013214067A1 (de) | 2015-01-22 |
JP2016526989A (ja) | 2016-09-08 |
WO2015007681A1 (de) | 2015-01-22 |
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