JPH0567286B2 - - Google Patents
Info
- Publication number
- JPH0567286B2 JPH0567286B2 JP60137801A JP13780185A JPH0567286B2 JP H0567286 B2 JPH0567286 B2 JP H0567286B2 JP 60137801 A JP60137801 A JP 60137801A JP 13780185 A JP13780185 A JP 13780185A JP H0567286 B2 JPH0567286 B2 JP H0567286B2
- Authority
- JP
- Japan
- Prior art keywords
- probe
- cross
- arm
- host computer
- sectional image
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 239000000523 sample Substances 0.000 claims description 14
- 239000003550 marker Substances 0.000 claims description 8
- 238000007917 intracranial administration Methods 0.000 claims description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 3
- 238000001356 surgical procedure Methods 0.000 description 11
- 206010028980 Neoplasm Diseases 0.000 description 6
- 210000004556 brain Anatomy 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 238000002583 angiography Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000003325 tomography Methods 0.000 description 2
- 208000003174 Brain Neoplasms Diseases 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000002059 diagnostic imaging Methods 0.000 description 1
- 238000002405 diagnostic procedure Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002603 single-photon emission computed tomography Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Landscapes
- Apparatus For Radiation Diagnosis (AREA)
- Magnetic Resonance Imaging Apparatus (AREA)
- Ultra Sonic Daignosis Equipment (AREA)
- Analysing Materials By The Use Of Radiation (AREA)
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明は、手術を行つている個所が、予め手術
前にCT断面撮影機により撮影されてブラウン管
に表示されたCT断面画像上に矢印等の位置表示
マーカーで表示できるようにした頭蓋内手術部位
の位置検出装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention allows the location where surgery is to be performed to be performed using an arrow or the like on a CT cross-sectional image taken in advance by a CT cross-sectional camera and displayed on a cathode ray tube. This invention relates to a position detecting device for an intracranial surgical site that can be displayed using a position display marker.
（従来の技術）
近年、頭蓋内病変の診断としてＸ線CT、
NMR−CT、超音波エコー、PETおよびSPECT
等新しい画像診断法が次々と開発され、実用化さ
れているが、単純Ｘ線撮影や血管撮影等の従来か
らの画像診断も増加している。(Prior technology) In recent years, X-ray CT,
NMR-CT, ultrasound echo, PET and SPECT
Although new diagnostic imaging methods such as X-ray imaging and angiography are being developed and put into practical use one after another, conventional imaging diagnostic methods such as plain X-ray photography and angiography are also increasing.
（発明が解決しようとする問題点）
ところが、上記の画像情報を一つの三次元位置
情報として結合することが診断の第一歩である
が、現在このような作業は医師が経験的に処理せ
ざるを得ず、往々にして全体像を把握しにくいと
いう問題点があつた。また、脳外科の手術に際し
ても大きな血管や脳表面の構造等、様々な目標を
使つて術者の経験と勘にたよつて手術部位の位置
の確認をしているのが現状であり、手術前に行な
つた検査の情報を完全に利用しきつていない。こ
のため脳表面から見えない脳深部の腫瘍を摘出す
るには、勘と手探りの状態において手術をしなけ
ればならないという問題点があつた。(Problem to be solved by the invention) However, although the first step in diagnosis is to combine the above image information as one three-dimensional positional information, doctors are currently unable to process such work empirically. Unavoidably, there was the problem that it was often difficult to grasp the overall picture. Furthermore, when conducting brain surgery, the current situation is that the surgeon relies on his or her experience and intuition to confirm the location of the surgical site using various targets such as large blood vessels and structures on the surface of the brain. The information from the tests performed is not fully utilized. For this reason, in order to remove tumors deep in the brain that cannot be seen from the surface of the brain, there was a problem in that surgery had to be performed based on intuition and groping.
本発明は上記のような問題点を解決するために
なされたもので、手術を行つている個所が、予め
手術前にCT断面撮影機により撮影されてブラウ
ン管に表示されたCT断面画像上に矢印等の位置
表示マーカーで表示し、これにより脳深部の腫瘍
個所を勘や手探りによらず確実に摘出することの
できる頭蓋内手術部位の位置検出装置を提供する
ことを目的とする。 The present invention has been made to solve the above-mentioned problems, and the area to be operated on is marked with an arrow on a CT cross-sectional image taken by a CT cross-sectional imager and displayed on a cathode ray tube before surgery. It is an object of the present invention to provide a position detecting device for an intracranial surgical site, which can be displayed using a position indicating marker such as , etc., and thereby can reliably remove a tumor site deep in the brain without relying on intuition or groping.
（問題点を解決するための手段）
本発明は、手術台の架台に設置されたアーム基
台１に、アーム２ａ，２ｂ，２ｃ，２ｄが、関節
部４ａ，４ｂ，４ｃ，４ｄを介して屈曲自在に連
結されると共に、前記アーム２ｄの先端部には関
節部４ｅを介して手術個所を指す探索子３が連結
され、且つ前記各関節部４ａ，４ｂ，４ｃ，４
ｄ，４ｅに回転角により抵抗値が変化するポテン
シヨメータ５ａ，５ｂ，５ｃ，５ｄ，５ｅを夫々
備えて形成されたセンサーアームＳと、前記各ポ
テンシヨメータ５ａ，５ｂ，５ｃ，５ｄ，５ｅに
対応する各関節部４ａ，４ｂ，４ｃ，４ｄ，４ｅ
の回転角に応じた抵抗値を入力して演算処理する
ホストコンピユータ６と、該ホストコンピユータ
６に予め入力されている前記探索子３の三次元位
置検出プログラムによつてデジタル変換し、予め
撮影されてブラウン管に表示された複数個のCT
断面画像８のうち該当するCT断面画像８上に前
記探索子３の先端の位置を位置表示マーカー９で
表示する表示手段７とを具備するという手段を採
用することにより、上記問題点を解決した。(Means for Solving the Problems) The present invention provides for arms 2a, 2b, 2c, 2d to be attached to an arm base 1 installed on a pedestal of a surgical table via joints 4a, 4b, 4c, 4d. The arms 2d are connected in a flexible manner, and a probe 3 pointing to the surgical site is connected to the distal end of the arm 2d via a joint 4e, and each of the joints 4a, 4b, 4c, 4
a sensor arm S formed with potentiometers 5a, 5b, 5c, 5d, and 5e whose resistance values change depending on the rotation angle at d and 4e; and each of the potentiometers 5a, 5b, 5c, 5d, and 5e. Each joint part 4a, 4b, 4c, 4d, 4e corresponding to
A host computer 6 inputs and arithmetic-processes the resistance value according to the rotation angle of Multiple CT images displayed on a cathode ray tube
The above-mentioned problem was solved by providing a display means 7 for displaying the position of the tip of the probe 3 with a position display marker 9 on the corresponding CT cross-sectional image 8 of the cross-sectional image 8. .
（作用）
本発明における頭蓋内手術部位の位置検出装置
は、アーム先端の探索子を手術部位に移動するこ
とでアームの各関節部が屈曲し、これに伴つて各
ポテンシヨメータの回転角による抵抗値（信号）
がホストコンピユータに伝達されて演算され、探
索子の先端の位置がホストコンピユータに予め入
力された三次元位置検出プログラムによつて、予
め手術前にCT断面撮影機により撮影されてブラ
ウン管に表示されたCT断面画像上に、手術を行
つている個所が矢印等の位置表示マーカーによつ
て表示することができる。(Function) In the intracranial surgical site position detection device of the present invention, each joint of the arm is bent by moving the probe at the tip of the arm to the surgical site, and accordingly, the rotation angle of each potentiometer is Resistance value (signal)
is transmitted to the host computer and calculated, and the position of the tip of the probe is taken by a CT tomography machine and displayed on a cathode ray tube before surgery, using a three-dimensional position detection program that is input into the host computer in advance. On the CT cross-sectional image, the location where the surgery is being performed can be displayed using a position indicator such as an arrow.
（実施例）
本発明の実施の一例を図面に就いて詳細に説明
する。第１図はセンサーアームＳの側面図を示す
もので、１は図示しない手術台の架台に設置され
るアーム基台で、アーム基台１にはアーム２ａ，
２ｂ，２ｃ，２ｄおよび先端部に探索子３が各々
関節部４ａ，４ｂ，４ｃ，４ｄ，４ｅを介して屈
曲自在に連結されており、且探索子３は関節部４
ｅに取替自在に取付けられている。すなわち、第
１図に於いてアーム基台１に対してアーム２ａは
矢印のように軸回りに回転し、以下アーム２ｂは
左右方向、アーム２ｃ，２ｄはそれぞれ上下方向
に回動自在とし、探索子３は前後方向に回動でき
る。そして上記した各関節部４ａ〜４ｅには回転
角により抵抗値が変化するポテンシヨメータ５ａ
〜５ｅが装備され、各ポテンシヨメータ５ａ〜５
ｅは各アーム２ａ〜２ｄ内に配線されて第３図に
示すように各々電気的に接続されている。(Example) An example of implementation of the present invention will be described in detail with reference to the drawings. FIG. 1 shows a side view of the sensor arm S. Reference numeral 1 denotes an arm base installed on a pedestal of a surgical table (not shown), and arm base 1 includes arms 2a,
2b, 2c, 2d and the distal end thereof, a probe 3 is connected to the probe 3 via joints 4a, 4b, 4c, 4d, 4e, respectively, in a freely bendable manner, and the probe 3 is connected to the joint 4.
It is replaceably attached to e. That is, in FIG. 1, the arm 2a rotates around the axis as shown by the arrow with respect to the arm base 1, and the arm 2b is freely rotatable in the left and right directions, and the arms 2c and 2d are respectively rotatable in the vertical direction. The child 3 can be rotated back and forth. Each of the joints 4a to 4e is equipped with a potentiometer 5a whose resistance value changes depending on the rotation angle.
~5e is equipped with each potentiometer 5a~5
e is wired inside each arm 2a to 2d and electrically connected to each other as shown in FIG.
第４図はブロツク接続図で、センサーアームＳ
はホストコンピユータ６に接続され、該ホストコ
ンピユータ６がブラウン管からなるCT断面画像
の表示手段７に接続されており、そして前記CT
断面画像は第５図に示すように、手術前に予め
CT断面撮影機により撮影された複数面のCT断面
画像８がブラウン管からなる表示手段７に表示さ
れる。 Figure 4 is a block connection diagram, and the sensor arm S
is connected to a host computer 6, and the host computer 6 is connected to a CT cross-sectional image display means 7 consisting of a cathode ray tube.
As shown in Figure 5, the cross-sectional image was prepared in advance before surgery.
A plurality of CT cross-sectional images 8 taken by a CT cross-sectional imager are displayed on a display means 7 made of a cathode ray tube.
次に、本発明装置の操作および動作につき説明
する。 Next, the operation and operation of the device of the present invention will be explained.
例えば、脳腫瘍等の手術に際しては、先ず第５
図に示すように、手術前に予めCT断面撮影機に
より撮影された複数面のCT断面画像８がブラウ
ン管からなる表示手段７に表示される。然る後、
術者はセンサーアームＳの探索子３の先端を腫瘍
個所と思われる位置に移動させると、各アーム２
ａ〜２ｄおよび探索子３の関節部４ａ〜４ｅがそ
れぞれ自由に所定角度回動し、これにより各ポテ
ンシヨメータ５ａ〜５ｅは対応する関節部４ａ〜
４ｅの回転角に応じた抵抗値がホストコンピユー
タ６に入力される。この抵抗値はホストコンピユ
ータ６により演算処理され、予めホストコンピユ
ータ６に入力されている探索子３の三次元位置検
出プログラムによつてデジタル変換し、探索子３
の先端位置が該当するCT断面画像８に矢印等の
位置表示マーカー９で表示することができる。従
つて、CT断面画像８の位置表示マーカー９の位
置が腫瘍個所を指していたとすれば探索子３の先
端部分が実際の腫瘍部分であるので正確な摘出部
を容易に発見することができる。 For example, when performing surgery for a brain tumor, etc., the fifth
As shown in the figure, a plurality of CT tomographic images 8 taken in advance by a CT tomography camera before surgery are displayed on a display means 7 made of a cathode ray tube. After that,
When the surgeon moves the tip of the probe 3 of the sensor arm S to the position where the tumor is thought to be, each arm 2
a to 2d and the joints 4a to 4e of the probe 3 are freely rotated by a predetermined angle, so that each potentiometer 5a to 5e is rotated by the corresponding joint 4a to 4e.
A resistance value corresponding to the rotation angle of 4e is input to the host computer 6. This resistance value is arithmetic processed by the host computer 6, and converted into digital data by the three-dimensional position detection program of the probe 3 that has been input into the host computer 6 in advance.
The position of the tip can be displayed on the corresponding CT cross-sectional image 8 with a position display marker 9 such as an arrow. Therefore, if the position of the position display marker 9 in the CT cross-sectional image 8 indicates a tumor location, the tip of the probe 3 is the actual tumor location, and the exact location to be removed can be easily found.
（発明の効果）
以上説明したように本発明によれば、手術を行
なつている部分が常にCT断面画像上に矢印等の
位置表示マーカーで表示されるため、従来のよう
に脳深部の腫瘍個所を勘や手探りで手術するよう
な危険もなく、腫瘍部分を確実かつ容易に摘出す
ることが可能となり、外科手術の技術を大幅に向
上できる画期的な装置となる効果がある。(Effects of the Invention) As explained above, according to the present invention, the area being operated on is always displayed on the CT cross-sectional image with a position display marker such as an arrow. This makes it possible to reliably and easily remove a tumor without the risk of having to perform surgery on a guess or groping, making it a revolutionary device that can significantly improve surgical techniques.
図は本発明の実施の一例を示すものにして、第
１図はセンサーアームの側面図、第２図は同平面
図、第３図はポテンシヨメータの接続図、第４図
は装置全体のブロツク図、第５図はCT断面画像
図である。
Ｓ……センサーアーム、１……アーム基台、２
ａ〜２ｄ……アーム、３……探索子、４ａ〜４ｅ
……関節部、５ａ〜５ｄ……ポテンシヨメータ、
６……ホストコンピユータ、７……表示手段、８
……CT断面画像、９……位置表示マーカー。
The drawings show an example of the implementation of the present invention. Fig. 1 is a side view of the sensor arm, Fig. 2 is a plan view thereof, Fig. 3 is a connection diagram of the potentiometer, and Fig. 4 is a diagram of the entire device. The block diagram and FIG. 5 are CT cross-sectional images. S...Sensor arm, 1...Arm base, 2
a-2d...Arm, 3...Explorer, 4a-4e
... Joint part, 5a to 5d ... Potentiometer,
6...Host computer, 7...Display means, 8
...CT cross-sectional image, 9...Position display marker.
Claims (1)
アーム２ａ，２ｂ，２ｃ，２ｄが、関節部４ａ，
４ｂ，４ｃ，４ｄを介して屈曲自在に連結される
と共に、前記アーム２ｄの先端部には関節部４ｅ
を介して手術個所を指す探索子３が連結され、且
つ前記各関節部４ａ，４ｂ，４ｃ，４ｄ，４ｅに
回転角により抵抗値が変化するポテンシヨメータ
５ａ，５ｂ，５ｃ，５ｄ，５ｅを夫々備えて形成
されたセンサーアームＳと、前記各ポテンシヨメ
ータ５ａ，５ｂ，５ｃ，５ｄ，５ｅに対応する各
関節部４ａ，４ｂ，４ｃ，４ｄ，４ｅの回転角に
応じた抵抗値を入力して演算処理するホストコン
ピユータ６と、該ホストコンピユータ６に予め入
力されている前記探索子３の三次元位置検出プロ
グラムによつてデジタル変換し、予め撮影されて
ブラウン管に表示された複数個のCT断面画像８
のうち該当するCT断面画像８上に前記探索子３
の先端の位置を位置表示マーカー９で表示する表
示手段７とを具備したことを特徴とする頭蓋内手
術部位の位置検出装置。1. On the arm base 1 installed on the pedestal of the operating table,
Arms 2a, 2b, 2c, 2d are joint parts 4a,
4b, 4c, and 4d, and a joint 4e is provided at the distal end of the arm 2d.
A probe 3 pointing to the surgical site is connected to the probe 3, and potentiometers 5a, 5b, 5c, 5d, 5e whose resistance value changes depending on the rotation angle are connected to each of the joints 4a, 4b, 4c, 4d, 4e. Input the resistance values according to the rotation angles of the sensor arms S and the joints 4a, 4b, 4c, 4d, 4e corresponding to the respective potentiometers 5a, 5b, 5c, 5d, 5e. A host computer 6 performs arithmetic processing, and a plurality of CT images that have been photographed in advance and displayed on a cathode ray tube are digitally converted by a three-dimensional position detection program for the probe 3 that is input into the host computer 6 in advance. Cross-sectional image 8
The search element 3 is placed on the corresponding CT cross-sectional image 8.
1. A position detecting device for an intracranial surgical site, comprising display means 7 for displaying the position of the tip of the head with a position display marker 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60137801A JPS62327A (en) | 1985-06-26 | 1985-06-26 | Apparatus for detecting position of operation region in head |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60137801A JPS62327A (en) | 1985-06-26 | 1985-06-26 | Apparatus for detecting position of operation region in head |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS62327A JPS62327A (en) | 1987-01-06 |
| JPH0567286B2 true JPH0567286B2 (en) | 1993-09-24 |
Family
ID=15207166
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP60137801A Granted JPS62327A (en) | 1985-06-26 | 1985-06-26 | Apparatus for detecting position of operation region in head |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS62327A (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4668315A (en) * | 1981-07-30 | 1987-05-26 | Dow Corning Corporation | Silicone elastomer based roofing system |
| KR970001431B1 (en) * | 1987-05-27 | 1997-02-06 | 쉬뢴도르프 게오르그 | Process and device for optical representation of surgical operation |
| GB8728150D0 (en) | 1987-12-02 | 1988-01-06 | Inst Of Neurology Queen Square | Head fixation apparatus |
| US5251127A (en) * | 1988-02-01 | 1993-10-05 | Faro Medical Technologies Inc. | Computer-aided surgery apparatus |
| DE69133603D1 (en) * | 1990-10-19 | 2008-10-02 | Univ St Louis | System for localizing a surgical probe relative to the head |
| JP2843507B2 (en) * | 1994-08-09 | 1999-01-06 | 三鷹光器株式会社 | Articulated instrument holding arm |
| US5829444A (en) * | 1994-09-15 | 1998-11-03 | Visualization Technology, Inc. | Position tracking and imaging system for use in medical applications |
| EP0951874A3 (en) * | 1994-09-15 | 2000-06-14 | Visualization Technology, Inc. | Position tracking and imaging system for use in medical applications using a reference unit secured to a patients head |
| US6021343A (en) | 1997-11-20 | 2000-02-01 | Surgical Navigation Technologies | Image guided awl/tap/screwdriver |
| US6033415A (en) * | 1998-09-14 | 2000-03-07 | Integrated Surgical Systems | System and method for performing image directed robotic orthopaedic procedures without a fiducial reference system |
| US11331150B2 (en) | 1999-10-28 | 2022-05-17 | Medtronic Navigation, Inc. | Method and apparatus for surgical navigation |
| US6636757B1 (en) | 2001-06-04 | 2003-10-21 | Surgical Navigation Technologies, Inc. | Method and apparatus for electromagnetic navigation of a surgical probe near a metal object |
| US7660623B2 (en) | 2003-01-30 | 2010-02-09 | Medtronic Navigation, Inc. | Six degree of freedom alignment display for medical procedures |
-
1985
- 1985-06-26 JP JP60137801A patent/JPS62327A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS62327A (en) | 1987-01-06 |
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