JP6932123B2 - 追跡された骨の登録を確証するための方法 - Google Patents
追跡された骨の登録を確証するための方法 Download PDFInfo
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- JP6932123B2 JP6932123B2 JP2018514805A JP2018514805A JP6932123B2 JP 6932123 B2 JP6932123 B2 JP 6932123B2 JP 2018514805 A JP2018514805 A JP 2018514805A JP 2018514805 A JP2018514805 A JP 2018514805A JP 6932123 B2 JP6932123 B2 JP 6932123B2
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- bone
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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
- 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
- A61B90/361—Image-producing devices, e.g. surgical cameras
-
- 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
- A61B2017/00119—Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation
-
- 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
- A61B2017/00734—Aspects not otherwise provided for battery operated
-
- 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
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
-
- 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
- A61B2034/2055—Optical tracking systems
-
- 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
- A61B90/30—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
- A61B2090/309—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure using white LEDs
-
- 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
- A61B90/39—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
- A61B2090/3983—Reference marker arrangements for use with image guided surgery
-
- 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
- G06T2207/10028—Range image; Depth image; 3D point clouds
-
- 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
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30004—Biomedical image processing
- G06T2207/30008—Bone
Description
Claims (12)
- 関節置換手順に関与する骨(複数)の登録を確証するためのシステムであって、
前記システムは:
カメラ;
ディスプレイ;
前記骨(複数)の三次元(3D)モデルを作成する手段;
前記関節置換手順中に6自由度(DOF)の追跡を可能にするために、前記骨(複数)のそれぞれに取り付けられた追跡装置を用いて前記骨(複数)を追跡する手段;
前記骨(複数)に対する前記3Dモデルの登録を受け付ける手段;
前記骨(複数)が動かされた場合に、
その動作と対応する前記3Dモデルにおける骨(複数)の位置変化の観察結果を前記ディスプレイに表示する手段;
ここで、前記表示手段においては、前記カメラの投影からの前記骨(複数)の三次元(3D)再構成画像または前記カメラからビデオ上に重ね合せられた前記骨(複数)のモデルの輪郭が前記ディスプレイに表示される、
および
前記3Dモデルの観察結果が所定の閾値以内である場合に、前記骨(複数)に対する前記3Dモデルの前記登録の確証を受け付ける手段、または、前記の骨(複数)の動作中に3D骨モデルが所定の閾値を越えて動くのをアルゴリズムが検出する場合に、警報を提供する手段、
を備える、
システム。 - 請求項1のシステムであって、
前記3Dモデルは仮想であり、前記の観察結果は、ビデオディスプレイ上に表示される、
システム。 - 請求項1のシステムであって、
前記登録は、コンピューター支援外科的システムと通信した入力機構を用いてコンピューター支援外科的システムに対して確証される、
システム。 - 請求項1のシステムであって、
前記の3D骨モデルの観察結果が所定の閾値外である場合、前記骨(複数)に対する前記3Dモデルの再登録を受け付ける手段をさらに備える、
システム。 - 請求項1のシステムであって、
前記の3Dモデルの観察結果が公知の解剖学的領域から外れて回転する場合、前記骨(複数)に対する前記3Dモデルの再登録を受け付ける手段をさらに備える、
システム。 - 請求項5のシステムであって、
前記骨(複数)は、大腿骨および寛骨臼であり、
大腿骨3Dモデルの観察結果が寛骨臼3Dモデルの中心から外れて回転する場合、これらの3Dモデルは前記骨(複数)に対して再登録される、
システム。 - 請求項1のシステムであって、
第一の3D骨モデルの観察結果が第二の3D骨モデルから規定の閾値距離を超えて離れている場合、前記骨(複数)に対するこれらの3Dモデルの再登録を受け付ける手段をさらに備える、
システム。 - 請求項7のシステムであって、
前記の規定の閾値距離は、1つまたは複数の骨の末端上の予期される軟骨の厚さである、
システム。 - 請求項1のシステムであって、
前記骨(複数)の動作中に前記3D骨モデルが所定の閾値を超えて動くのをアルゴリズムが検出する場合に、前記警報を提供する警報手段が存在する、
システム。 - 請求項9のシステムであって、
前記3D骨モデルの前記の所定の閾値を超える動作は、前記3D骨モデル間の規定の閾値距離を超える動作である、
システム。 - 請求項10のシステムであって、
前記の規定の閾値距離は、予期される軟骨の厚さよりも大きな距離である、
システム。 - 請求項9のシステムであって、
前記骨(複数)は、大腿骨骨頭および寛骨臼であり、
前記3D骨モデルの前記の所定の閾値を超える動作は、寛骨臼3Dモデルの中心から外れた大腿骨骨頭3Dモデルの回転である、
システム。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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US201562255618P | 2015-11-16 | 2015-11-16 | |
US62/255,618 | 2015-11-16 | ||
PCT/US2016/062008 WO2017087371A1 (en) | 2015-11-16 | 2016-11-15 | Method for confirming registration of tracked bones |
Publications (2)
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JP2018534960A JP2018534960A (ja) | 2018-11-29 |
JP6932123B2 true JP6932123B2 (ja) | 2021-09-08 |
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JP2018514805A Active JP6932123B2 (ja) | 2015-11-16 | 2016-11-15 | 追跡された骨の登録を確証するための方法 |
Country Status (7)
Country | Link |
---|---|
US (2) | US10905496B2 (ja) |
EP (1) | EP3376990A4 (ja) |
JP (1) | JP6932123B2 (ja) |
KR (1) | KR20180071328A (ja) |
CN (1) | CN108348305A (ja) |
AU (2) | AU2016357286B2 (ja) |
WO (1) | WO2017087371A1 (ja) |
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2016
- 2016-11-15 CN CN201680065323.6A patent/CN108348305A/zh active Pending
- 2016-11-15 WO PCT/US2016/062008 patent/WO2017087371A1/en active Application Filing
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AU2016357286B2 (en) | 2021-10-14 |
JP2018534960A (ja) | 2018-11-29 |
EP3376990A1 (en) | 2018-09-26 |
AU2022200119A1 (en) | 2022-02-10 |
WO2017087371A1 (en) | 2017-05-26 |
KR20180071328A (ko) | 2018-06-27 |
CN108348305A (zh) | 2018-07-31 |
US20200237441A1 (en) | 2020-07-30 |
US20210128252A1 (en) | 2021-05-06 |
US10905496B2 (en) | 2021-02-02 |
AU2022200119B2 (en) | 2024-03-14 |
US11717353B2 (en) | 2023-08-08 |
EP3376990A4 (en) | 2019-05-08 |
AU2016357286A1 (en) | 2018-04-26 |
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