JP6923532B2 - 外科的誘導装置、システム及び方法 - Google Patents
外科的誘導装置、システム及び方法 Download PDFInfo
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- JP6923532B2 JP6923532B2 JP2018535105A JP2018535105A JP6923532B2 JP 6923532 B2 JP6923532 B2 JP 6923532B2 JP 2018535105 A JP2018535105 A JP 2018535105A JP 2018535105 A JP2018535105 A JP 2018535105A JP 6923532 B2 JP6923532 B2 JP 6923532B2
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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
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
-
- 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
- A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
- A61B5/062—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using magnetic field
-
- 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
- A61B90/10—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 for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/11—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 for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
-
- 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
- A61B90/10—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 for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/11—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 for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
- A61B90/13—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 for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints guided by light, e.g. laser pointers
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00022—Sensing or detecting at the treatment site
- A61B2017/00039—Electric or electromagnetic phenomena other than conductivity, e.g. capacity, inductivity, Hall effect
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00115—Electrical control of surgical instruments with audible or visual output
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00199—Electrical control of surgical instruments with a console, e.g. a control panel with a display
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00221—Electrical control of surgical instruments with wireless transmission of data, e.g. by infrared radiation or radiowaves
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
- A61B2017/3407—Needle locating or guiding means using mechanical guide means including a base for support on the body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3413—Needle locating or guiding means guided by ultrasound
-
- 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
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
- A61B2034/2053—Tracking an applied voltage gradient
-
- 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
Description
11B、C 検出場
12A〜C センサ
14 誘導開口部
16 ケーブル
17 マーキング要素
18 誘導要素
40 プロセッサ
Claims (15)
- 誘導装置であって、
誘導開口部を有する追跡パッドと、
少なくとも針の遠位端が前記誘導開口部に挿入された時に前記針上の少なくとも1つのビーコンと共に前記針の配置を追跡するように動作可能な複数のセンサと、
を備えることを特徴とする装置。 - 前記少なくとも1つのビーコンは磁気要素を含み、前記複数のセンサの各々は変換器である、
請求項1に記載の装置。 - 各変換器は、ホール効果センサである、
請求項1に記載の装置。 - 前記追跡パッドは、前記誘導開口部の周囲に三角形に配置された3つの位置を定め、前記複数のセンサは、前記3つの位置内において配置される、
請求項1に記載の装置。 - 前記誘導開口部の内側の、前記針の前記遠位端の目標挿入地点を示すように構成されたマーキング要素をさらに備える、
請求項1に記載の装置。 - 前記マーキング要素は、前記誘導開口部内に少なくとも2つの光ビームを投影するように構成され、前記目標挿入地点は、前記少なくとも2つの光ビームの交点によって示される、
請求項5に記載の装置。 - 前記複数のセンサは、
前記誘導開口部の内側の、前記針の前記遠位端の実際の挿入地点と、
前記開口部に対する前記針の実際の挿入角と、
を求めるように構成される、
請求項6に記載の装置。 - 前記追跡パッド上の誘導要素をさらに含み、該誘導要素は、
前記実際の挿入角が目標挿入角に一致するかどうかと、
前記実際の挿入角を前記目標挿入角に一致させるための移動方向と、
を示すように構成される、
請求項7に記載の装置。 - 前記複数のセンサは、前記針の前記遠位端が前記開口部に挿入された時に、前記誘導開口部と前記遠位端との間の距離を求めるように構成される、
請求項1に記載の装置。 - 前記少なくとも1つのビーコンは、前記針の前記遠位端に位置する第1のビーコンと、前記針の近位端に位置する第2のビーコンとを含み、前記針の前記配置は、前記第1及び第2のビーコンの一方又は両方に関して追跡される、
請求項1に記載の装置。 - 誘導システムであって、
少なくとも1つのビーコンを有する針と、
誘導開口部と、少なくとも前記誘導開口部に針の遠位端が挿入された時に前記少なくとも1つのビーコンと共に前記針の配置を追跡するように動作可能な複数のセンサとを有する追跡パッドと、
前記針の実際の配置をプロセッサに伝えるように構成された送信機と、
前記プロセッサから前記針の目標配置を受け取るように構成された受信機と、
前記実際の配置を前記目標配置と同期させるための移動方向を示すように構成された誘導要素と、
を備えることを特徴とするシステム。 - 前記誘導要素は、前記実際の配置と前記目標配置とを示すように構成されたディスプレイを含む、
請求項11に記載のシステム。 - 前記誘導要素は、前記追跡パッド上の複数のインジケータをさらに含み、各インジケータは、前記移動方向を示すように構成される、
請求項12に記載のシステム。 - 前記誘導開口部と同軸的な開口部を含む、前記追跡パッドに取り付けられたベースと、
前記針を挿入軸に沿って受け取るように構成されたボアを含む、前記ベースに移動可能に取り付けられたホルダと、
を含むアクセスガイドと、
前記ベース又は前記ホルダに取り付けられて、前記針が前記ボアを通じて挿入軸に沿って挿入された時に動き信号を生成するように構成されたプローブと、
をさらに備える、
請求項13に記載のシステム。 - 前記追跡パッドの前記誘導開口部内に受け取られるようなサイズのベースを有するプローブをさらに含み、該プローブは、前記針が前記ボアを通じて前記挿入軸に沿って挿入された時に動き信号を生成するように構成され、画像は、前記プローブの撮像面内で生成される、
請求項11に記載のシステム。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201662276567P | 2016-01-08 | 2016-01-08 | |
US62/276,567 | 2016-01-08 | ||
PCT/US2017/012541 WO2017120477A1 (en) | 2016-01-08 | 2017-01-06 | Surgical guidance devices, systems and methods |
Publications (2)
Publication Number | Publication Date |
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JP2019503776A JP2019503776A (ja) | 2019-02-14 |
JP6923532B2 true JP6923532B2 (ja) | 2021-08-18 |
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Application Number | Title | Priority Date | Filing Date |
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JP2018535105A Active JP6923532B2 (ja) | 2016-01-08 | 2017-01-06 | 外科的誘導装置、システム及び方法 |
Country Status (7)
Country | Link |
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US (3) | US10624668B2 (ja) |
EP (1) | EP3399927B1 (ja) |
JP (1) | JP6923532B2 (ja) |
CN (1) | CN108463179B (ja) |
AU (1) | AU2017205183B2 (ja) |
CA (1) | CA3010513A1 (ja) |
WO (1) | WO2017120477A1 (ja) |
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-
2017
- 2017-01-06 EP EP17701388.5A patent/EP3399927B1/en active Active
- 2017-01-06 CA CA3010513A patent/CA3010513A1/en not_active Abandoned
- 2017-01-06 JP JP2018535105A patent/JP6923532B2/ja active Active
- 2017-01-06 CN CN201780006090.7A patent/CN108463179B/zh active Active
- 2017-01-06 WO PCT/US2017/012541 patent/WO2017120477A1/en active Application Filing
- 2017-01-06 AU AU2017205183A patent/AU2017205183B2/en active Active
- 2017-01-06 US US15/400,367 patent/US10624668B2/en active Active
-
2020
- 2020-03-17 US US16/820,820 patent/US11504155B2/en active Active
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2022
- 2022-10-19 US US18/047,919 patent/US20230062378A1/en active Pending
Also Published As
Publication number | Publication date |
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US10624668B2 (en) | 2020-04-21 |
CN108463179A (zh) | 2018-08-28 |
EP3399927A1 (en) | 2018-11-14 |
JP2019503776A (ja) | 2019-02-14 |
US11504155B2 (en) | 2022-11-22 |
CN108463179B (zh) | 2021-04-27 |
AU2017205183A1 (en) | 2018-07-19 |
US20170196591A1 (en) | 2017-07-13 |
EP3399927B1 (en) | 2020-08-12 |
CA3010513A1 (en) | 2017-07-13 |
US20200214738A1 (en) | 2020-07-09 |
AU2017205183B2 (en) | 2021-02-25 |
US20230062378A1 (en) | 2023-03-02 |
WO2017120477A1 (en) | 2017-07-13 |
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