JP6782688B2 - 介入処置の3d撮像ワークフローにおける器具及び生体構造のインテリジェントかつリアルタイムな可視化 - Google Patents
介入処置の3d撮像ワークフローにおける器具及び生体構造のインテリジェントかつリアルタイムな可視化 Download PDFInfo
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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
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/0233—Pointed or sharp biopsy instruments
- A61B10/0241—Pointed or sharp biopsy instruments for prostate
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0833—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures
- A61B8/0841—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures for locating instruments
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/42—Details of probe positioning or probe attachment to the patient
- A61B8/4245—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
- A61B8/4254—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient using sensors mounted on the probe
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/48—Diagnostic techniques
- A61B8/483—Diagnostic techniques involving the acquisition of a 3D volume of data
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/5215—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data
- A61B8/5238—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data for combining image data of patient, e.g. merging several images from different acquisition modes into one image
- A61B8/5261—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data for combining image data of patient, e.g. merging several images from different acquisition modes into one image combining images from different diagnostic modalities, e.g. ultrasound and X-ray
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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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
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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
- 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
- A61B2034/2063—Acoustic tracking systems, e.g. using ultrasound
-
- 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
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
- A61B2090/3782—Surgical systems with images on a monitor during operation using ultrasound transmitter or receiver in catheter or minimal invasive instrument
-
- 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
- A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
- A61B2090/3782—Surgical systems with images on a monitor during operation using ultrasound transmitter or receiver in catheter or minimal invasive instrument
- A61B2090/3786—Surgical systems with images on a monitor during operation using ultrasound transmitter or receiver in catheter or minimal invasive instrument receiver only
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/12—Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
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- Heart & Thoracic Surgery (AREA)
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Description
本出願は、2014年7月16日に出願された仮出願第62/025,481号の優先権を主張し、参照によりその全体が本明細書に組み込まれる。
a)「comprising(有する)」との用語は、所与の請求項に列挙されるもの以外の要素又は行為の存在を排除するものではない。
b)要素に先行する「a」又は「an」との用語は、当該要素が複数存在することを排除するものではない。
c)請求項における任意の参照符号は、その範囲を制限するものではない。
d)幾つかの「手段(means)」が、同一のアイテム、ハードウェア又はソフトウェアが実装された構造体又は機能によって表される。
e)特に明記されない限り、行為の特定の順序を必要とすることを意図していない。
Claims (9)
- 器具を追跡するためのシステムであって、当該システムは、
複数の超音波ビームによって規定される視野を有する超音波撮像プローブを含む、超音波撮像システムと、
生検針を含む器具であり、前記器具の長さに沿って配設され、各々のセンサが各々の隣接するセンサから離間された2つ以上のセンサを含む、前記器具と、
前記2つ以上のセンサのリアルタイムの位置に応じて、前記視野に対応する3次元超音波画像ボリュームから超音波画像スライスを選択及び更新する解釈モジュールであって、前記3次元超音波画像ボリュームは、前記3次元超音波画像ボリューム内の標的に対する前記2つ以上のセンサの位置を含む、解釈モジュールと、
前記器具の位置決め及び配向を行うためのフィードバックを与えるために、前記超音波画像スライス内の基準位置を示すオーバーレイをディスプレイに生成する画像処理モジュールであって、前記基準位置は、前記2つ以上のセンサの位置、及び前記超音波画像スライスからの前記2つ以上のセンサの相対オフセットを含む、画像処理モジュールと
を含み、
前記解釈モジュールは更に、少なくとも1つの面内基準位置を含むように前記超音波画像スライスを選択し、前記面内基準位置は、面内センサ位置、面内器具位置、又は面内生検/標的位置である、システムにおいて、
前記2つ以上のセンサは超音波センサであり、前記超音波ビームが前記視野をスイープするときに、前記2つ以上のセンサにより受信された超音波信号を解析することにより、当該2つ以上のセンサの位置がそれぞれ前記視野で決定されることを特徴とする、システム。 - 前記画像処理モジュールは更に、推定生検位置を示すオーバーレイを生成する、請求項1に記載のシステム。
- 前記画像処理モジュールは更に、前記生検針を示すオーバーレイを生成する、請求項1に記載のシステム。
- 前記解釈モジュールは更に、全ての前記面内基準位置を含むように前記超音波画像スライスを選択する、請求項1に記載のシステム。
- 前記オーバーレイは、各基準位置についての形及び/又はオフセット距離のうちの少なくとも1つを示す、請求項1に記載のシステム。
- 前記形は、前記オフセット距離の大きさに対して比例的にサイズ設定される、請求項5に記載のシステム。
- 前記基準位置は、医療デバイスの表現、推定位置又は標的のうちの1つ以上を追加的に含む、請求項1に記載のシステム。
- 前記超音波撮像プローブは、前記3次元超音波画像ボリュームの3次元(3D)画像を生成し、前記3D画像を前記2つ以上のセンサを含む視野において第2の撮像システムによりリアルタイムで撮像された2次元画像とレジストレーションする、請求項1に記載のシステム。
- 前記超音波撮像プローブは経直腸超音波プローブを含み、前記画像処理モジュールは更に、推定生検位置を示すオーバーレイを生成する、請求項1に記載のシステム。
Applications Claiming Priority (3)
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US201462025481P | 2014-07-16 | 2014-07-16 | |
US62/025,481 | 2014-07-16 | ||
PCT/IB2015/055320 WO2016009350A1 (en) | 2014-07-16 | 2015-07-14 | Intelligent real-time tool and anatomy visualization in 3d imaging workflows for interventional procedures |
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JP2017520346A JP2017520346A (ja) | 2017-07-27 |
JP2017520346A5 JP2017520346A5 (ja) | 2019-03-28 |
JP6782688B2 true JP6782688B2 (ja) | 2020-11-11 |
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US (2) | US11298192B2 (ja) |
EP (1) | EP3169244B1 (ja) |
JP (1) | JP6782688B2 (ja) |
CN (1) | CN106535774B (ja) |
WO (1) | WO2016009350A1 (ja) |
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US11786318B2 (en) | 2023-10-17 |
US20220192760A1 (en) | 2022-06-23 |
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