KR20220058569A - 위치 센서의 가중치-기반 정합을 위한 시스템 및 방법 - Google Patents

위치 센서의 가중치-기반 정합을 위한 시스템 및 방법 Download PDF

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Publication number
KR20220058569A
KR20220058569A KR1020227010428A KR20227010428A KR20220058569A KR 20220058569 A KR20220058569 A KR 20220058569A KR 1020227010428 A KR1020227010428 A KR 1020227010428A KR 20227010428 A KR20227010428 A KR 20227010428A KR 20220058569 A KR20220058569 A KR 20220058569A
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South Korea
Prior art keywords
instrument
location points
coordinate system
model
sensor
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Pending
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KR1020227010428A
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English (en)
Korean (ko)
Inventor
헤디예 라필-타리
멩롱 예
리트윅 움말라네니
서바쉬니 스리니바산
유리이 말리닌
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아우리스 헬스, 인코포레이티드
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Publication of KR20220058569A publication Critical patent/KR20220058569A/ko
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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
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/044—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances for absorption imaging
    • A—HUMAN NECESSITIES
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    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
    • G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
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    • A61B2017/00743—Type of operation; Specification of treatment sites
    • A61B2017/00809—Lung operations
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    • A61B2034/102—Modelling of surgical devices, implants or prosthesis
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    • A61B2034/2061—Tracking techniques using shape-sensors, e.g. fiber shape sensors with Bragg gratings
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    • 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
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    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • 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
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    • 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
    • A61B2090/306—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure using optical fibres
    • 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
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • A61B2090/3612—Image-producing devices, e.g. surgical cameras with images taken automatically
    • 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
    • A61B2090/3614—Image-producing devices, e.g. surgical cameras using optical fibre
    • 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
    • A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G06T2207/30061—Lung

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Medical Informatics (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Molecular Biology (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Biophysics (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Endoscopes (AREA)
  • Manipulator (AREA)
KR1020227010428A 2019-08-30 2020-08-26 위치 센서의 가중치-기반 정합을 위한 시스템 및 방법 Pending KR20220058569A (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201962894639P 2019-08-30 2019-08-30
US62/894,639 2019-08-30
PCT/IB2020/057986 WO2021038469A1 (en) 2019-08-30 2020-08-26 Systems and methods for weight-based registration of location sensors

Publications (1)

Publication Number Publication Date
KR20220058569A true KR20220058569A (ko) 2022-05-09

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Application Number Title Priority Date Filing Date
KR1020227010428A Pending KR20220058569A (ko) 2019-08-30 2020-08-26 위치 센서의 가중치-기반 정합을 위한 시스템 및 방법

Country Status (6)

Country Link
US (2) US11207141B2 (https=)
EP (1) EP4021331A4 (https=)
JP (1) JP7648035B2 (https=)
KR (1) KR20220058569A (https=)
CN (1) CN114340542B (https=)
WO (1) WO2021038469A1 (https=)

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CN113334391B (zh) * 2021-08-06 2021-11-09 成都博恩思医学机器人有限公司 一种机械臂的摆位控制方法、系统、机器人及存储介质
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ES3040281T3 (en) * 2022-01-19 2025-10-30 Ganymed Robotics Method and device for segmentation and registration of an anatomical structure
CN116226685B (zh) * 2023-03-28 2026-04-28 中铁第四勘察设计院集团有限公司 基于应变统计特征的轨枕健康诊断方法、装置及电子设备
CN116687328B (zh) * 2023-06-14 2026-04-03 上海微创医疗机器人（集团）股份有限公司 导管的移动控制装置、方法及存储介质
CN118016282A (zh) * 2024-04-08 2024-05-10 中国人民解放军联勤保障部队第九八〇医院 一种基于机器学习的儿科重症监护辅助系统

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