WO1999033406A1 - Systeme de sonde sans fil, a utiliser avec un dispositif chirurgical stereotaxique - Google Patents

Systeme de sonde sans fil, a utiliser avec un dispositif chirurgical stereotaxique Download PDF

Info

Publication number
WO1999033406A1
WO1999033406A1 PCT/US1998/027841 US9827841W WO9933406A1 WO 1999033406 A1 WO1999033406 A1 WO 1999033406A1 US 9827841 W US9827841 W US 9827841W WO 9933406 A1 WO9933406 A1 WO 9933406A1
Authority
WO
WIPO (PCT)
Prior art keywords
emitters
radiation
probe
ordered pattern
period
Prior art date
Application number
PCT/US1998/027841
Other languages
English (en)
Inventor
Mark W. Hunter
Paul J. Kessman
Scott R. Smith
Original Assignee
Surgical Navigation Technologies, Inc.
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Surgical Navigation Technologies, Inc. filed Critical Surgical Navigation Technologies, Inc.
Priority to DE19882935T priority Critical patent/DE19882935B4/de
Priority to AU20227/99A priority patent/AU2022799A/en
Publication of WO1999033406A1 publication Critical patent/WO1999033406A1/fr

Links

Classifications

    • 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
    • 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
    • A61B90/10—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
    • 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
    • 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
    • A61B2034/2068—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
    • 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
    • A61B2034/2072—Reference field transducer attached to an instrument or patient
    • 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
    • A61B2090/363—Use of fiducial points
    • 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

Definitions

  • the present invention relates generally to computer assisted image guided medical and surgical navigation systems that generate images during medical and surgical procedures indicating the relative position of various body parts, surgical implants, and instruments.
  • the present invention relates to a system of determining the position of a wireless reference probe or arc using a sequenced lighting pattern to synchronize lights on the probe and reference arc or frame to determine a position of each.
  • Computer assisted image guided medical and surgical navigation systems are known and used to generate images in order to guide a doctor during a surgical procedure.
  • Such systems are disclosed, for example, in U.S. Patent No. 5,383,454 to Buchojz; PCT Application No. PCT/US94/04530 (Publication No. WO 94/24933) to Bucholz: and PCT Application No. PCT/US95/12984 (Publication No. WO 96/11624) to Bucholz et al.. incorporated herein by reference.
  • these image guided systems use images of a body part, such as CT scans, taken before surgery to generate images on a display, such as a CRT monitor screen, during surgery for representing the position of a surgical instrument with respect to the body part.
  • the systems typically include tracking devices such as, for example, an LED array mounted on a surgical instrument as well as a body part, a digitizer or a camera device to track in real time the position of the LED arrays and thus the body part and the instrument used during surgery, and a monitor screen to display images representing the body part and the position of the instrument relative to the body part as the surgical procedure is performed.
  • the button may be connected to a processor that sends a signal to the probe emitters directing them to emit radiation.
  • the processor must also direct the emitters on the reference arc to light.
  • One problem with this prior art system is that the wires that connect the probe to the processor can interfere with the surgeon's work. In addition, the surgeon must take the time to press the foot pedal; otherwise, he may not receive constant updates on the probe position without repeatedly hitting the floor pedal.
  • Systems and methods consistent with the present invention include a device to determine a position of a probe with respect to an object, such as, for example, a cranium or spinal vertebrae.
  • a reference arc has a first set of emitters positioned on it and is fixedly positioned on the object.
  • a probe has a second set of emitters positioned on it and is positioned by a surgeon near the object.
  • An activating circuit in the probe causes each of the second set of emitters to turn on and off in a predetermined sequence to produce a first ordered pattern of light.
  • a detector which is part of a digitizer, is positioned to detect radiation from the first and second set of emitters.
  • a processor includes instructions for recognizing the ordered pattern output by the second set of emitters based on the radiation detected by the detector and for instructing the first set of emitters to turn on and off in a second ordered pattern that limits overlap with the first ordered pattern, whereby a position of both the reference arc and the probe may be determined by the processor based on detected radiation.
  • the reference arc includes an activating circuit for lighting the first set of emitters in a pattern.
  • the probe includes an activating circuit that lights emitters on the probe at a different rate than an activating circuit in the reference arc lights emitters on the arc.
  • a processor includes instructions for recognizing the differing ordered pattern outputs of the set of emitters on the arc and probe, whereby a position of both the reference arc and the probe may be determined based on detected radiation.
  • a method for indicating a position of a surgical instrument comprising the steps of positioning a reference arc near a patient and emitting radiation using a first set of emitters positioned on the reference arc. Radiation is emitted from a second set of emitters positioned on a second structure in an ordered pattern. Detectors detect radiation from the first and second set of emitters. The ordered pattern is recognized by a processor based on detected radiation. The processor activates the first set of emitters during times when the second set of emitters is inactive, whereby a position of the reference arc and surgical instrument may be determined based on detected radiation.
  • Fig. 1 is a schematic front view of a computer assisted image guided surgery system used with a wireless probe according to the present invention
  • Fig. 2 shows a control circuit that is positioned in the probe shown in Fig. 1 according to the present invention
  • Fig. 3 shows a timing diagram of the pattern of activation of the LEDs on the probe using the control circuit of Fig. 2 and includes the timing of activation of the LEDs on a reference arc activated by the system shown in Fig. 2 and the detection frames and localization frames of the processor;
  • Fig. 4 shows a flow chart of the steps for initializing the system of the present invention and determining the position of the probe and reference arc;
  • Fig. 5 shows a timing diagram of the emission of light from the reference arc and the probe according to one embodiment of the present invention.
  • Fig. 6 shows a timing diagram of the emission of light from the reference arc and the probe according to one embodiment of the present invention.
  • the medical instrument of the present invention is shown generally as part of the system 11 in Fig. 1.
  • An instrument such as probe 100 can be used in known computer assisted image guided surgical navigation systems such as the system 11 shown in Fig. 1 and disclosed in PCT Application No. PCT/US95/12984 (Publication No. WO 96/11624) to Bucholz et al.
  • a computer assisted image guided surgery system 11 generates an image for display on a CRT monitor 106 representing the real time position of a body part such as a cranium, represented generally by circle 119, having reference points 118 and the position of probe 100 relative to the body part 119.
  • An image may be generated on monitor 106 from an image data set stored in a controller, such as computer 108, usually generated preoperatively by some scanning technique such as, for example, by a CT scanner or by magnetic resonance imaging (MRI).
  • the image data set and the image generated have reference points for at least one body part.
  • the reference points for the particular body part have a fixed spatial relation to the particular body part.
  • System 11 also generally includes a processor for processing image data, shown as computer 108, and displays this processed data on monitor 106.
  • Digitizer control unit 114 is under control of computer 108.
  • Digitizer 114 in conjunction with a reference frame or arc 120 and a sensor array 110 or other known position sensing unit, tracks the real time position of a body part, such as a cranium shown at 119 clamped in reference arc 120, and a probe 100.
  • Reference arc 120 has emitters 122 (such as LEDs A1 , A2, A3, A4, and A5) or other tracking means that generate signals representing the position of the various body reference points.
  • Reference arc 120 is fixed spatially in relation to a body part by a clamp assembly indicated generally at 124, 125, and 126, so that arc 120 moves as the body part is moved during surgery.
  • Probe 100 also has a tracking device shown as an emitter array set 40 (such as LEDs 366, 368, 369) which generates signals representing the position of the probe during the procedure.
  • Sensor array 110 mounted on support 112, receives and in conjunction with digitizer 114 and computer 108, triangulates the signals generated by emitters 122 and emitter array set 40 in order to identify during the procedure the relative position of the reference points on arc 120 and the probe 100. Digitizer 114 and computer 108 may then modify the image data set according to the identified relative position of each of the reference points during the procedure. Computer 108 may then generate an image data set for display on monitor 106 representing the position of the body part and the probe on the appropriate CT or MRI scan slice during the operation.
  • the general structure and operation of an image guided surgery system is well known in the art and need not be discussed further here.
  • Fig. 1 shows the probe 100 having a body 41 and an emitter set 40.
  • Probe 100 may be any one of a plurality of types of surgical instruments such as a surgical coagulating forceps, a bipolar coagulating forceps, drill, suction tube, bayonet cauterizing device, catheter guide, drill guide, or any other surgical instrument modified as discussed with respect to Figs. 2-4.
  • Probe 100 can be wireless and has a battery 361 for power and internal circuitry shown in Fig. 2 for controlling the light emitter set 40.
  • a switch may be on the probe to activate and disable the emitter set 40.
  • the probe 100 includes within body 41 a control circuit 362 for controlling the emission of light from emitter set 40.
  • Figure 2 shows the control circuit 362 hardware that includes a microprocessor 364 shown as the Motorola 68HC705J2CS. Any suitable microprocessor or pattern generator circuit known in the art may be used.
  • Control circuit 362 drives the light emitter set 40 which includes at least two light emitters, but as shown includes three LEDs 366, 368, and 369, all suitably positioned on the probe 100 for monitoring by sensor array 110.
  • PAO output 18 drives the first LED 366
  • PA1 output 17 drives the second LED 368
  • PA2 output 16 drives the third LED 369. If additional emitters are desired, then other outputs such as 11-15 may act as drivers.
  • the clock timer signal generated by the 4 megahertz crystal of clock 370 is input to OSC1 and OSC2.
  • the microprocessor 364 includes routine software and hardware for controlling the emitters on the probe 100 to generate signals to drive the emitter set 40.
  • the present invention activates the emitters on the probe 100 in a predetermined ordered pattern such as that indicated generally at 400 in Fig. 3.
  • the probe of the present invention behaves independently of the digitizer 114 in that probe 100 is not connected or controlled by the digitizer 114.
  • the probe 100 includes the internal circuitry described above for activating the emitters on the probe 100 in a predetermined order at predetermined times. This order and timing of activating the emitters is referred to as an ordered pattern.
  • One example of the pattern is illustrated in Fig. 3.
  • Other patterns in addition to that of Fig.
  • any cyclical pattern with a sufficient period for detection by digitizer 114 may also be used as long as both the digitizer 114 and/or the computer 108 are programmed so the digitizer 114 can recognize the same predetermined pattern produced by probe 100.
  • the computer 108 has a memory which is programmed beforehand to store the predefined pattern 400 and this pattern 400 can be programmed into the digitizer 114 during initialization; therefore the digitizer 114 can recognize the pattern 400 when output by the probe 100.
  • the emission of radiation from one LED does not overlap with that of another LED.
  • the geometry of the emitters based on detected radiation may be determined to verify that the detected structure is the appropriate shape for the probe or arc. This best fit geometry check can be performed to verify correct synchronization throughout the localization process.
  • the timing diagram of Fig. 3 is divided into time slots, with each time slot generally corresponding to a LED activation period shown as 1-20 on the bottom of the drawing. All the time slots do not necessarily have to be equal; but in a preferred embodiment, each time slot is about 30 milliseconds.
  • control circuit 362 activates (turns on lights) first emitter LED 366 for the first time slot S1 of the pattern 400. Then control circuit 362 activates LED 368 for the second time slot S2. Next, a third LED 369 is activated for a third time slot S3.
  • the emitters are on for the entire time slot and preferably the emitters are activated sequentially such that the end of the first time slot corresponds to the start of the second time slot. Preferably the periods of activation do not overlap and there may be time gaps between the periods of activation. Changes to these parameters merely change the pattern 400.
  • a correspondingly similar pattern 400 must be stored in both probe 100 and also the computer 108 to enable the digitizer 114 to recognize the pattern.
  • the clock 370 input to microprocessor 364 counts seven time slots (slots S4-S10) represented as T1-T7 in Fig. 3 during which the probe 100 does not activate any of the emitters.
  • Microprocessor 364 does not directly control emitters 122 on the reference arc 120; instead, in this embodiment, the computer 108 controls emitter set 122, which includes emitters A1-A5.
  • the timing diagram shows the emission of radiation from emitters A1-A5, which can begin - as described in further detail below - after the probe pattern is recognized and synchronization has occurred.
  • the overall pattern 400 generated by the probe 100 alone includes sequencing through ten equal time slots - three of which include a single LED being lit and the other seven of which include no action.
  • the computer 108 will activate emitters A1-A5 on the reference arc 120. Once the probe completes its pattern 400, the pattern 400 is restarted at the beginning with LED 366 by the microprocessor.
  • the microprocessor 364 of probe 100 activates LEDs 366, 368, and 369 and executes the pattern 400 in Fig. 3 (step 500) independently of any other parts of the system shown in Fig. 1. While the pattern 400 is being executed, the sensor array 110 detects light output by LEDs 366, 368, and 369 on the probe 100. During this initializing period, the emitter set 122 on the reference arc 120 are not activated by the computer 108. The probe 100 executes the pattern of emission 400 for LEDs 366, 368, and 369 as shown in Fig. 3. Sensor array 110 is constantly detecting received light (step 510).
  • the digitizer 114 samples the received light in units called detection frames to recognize the probe's 100 pattern 400.
  • detection frames 115 are each at a fraction of the probe's 100 emitter activation time (oversampling), that is the time each emitter is on, so that the digitizer 100 can determine when the probe 100 emitters are on and off.
  • the detection frames sampling rate must be at least two times the individual emitter rate (nyquist criteria), but it is preferable to use a faster sampling rate such as four times the emitter lighting rate. The more samples that are taken in a given time period the greater the precision of determining when the emitters are on or off. In this example of Fig. 3, it can be seen that for this example there are about four frames per time slot. Based on knowing detection frames where light is detected and times that no light is detected above a threshold, the digitizer 114 recognizes the pattern 400 (step 520).
  • the digitizer 114 has an internal clock timer that preferably runs at the same frequency (or integral multiples thereof) as the clock timer 370 of the probe. Based on the recognized pattern 400, the digitizer 114 synchronizes the pulse rate of the emitters 122 on the reference arc 120 to that of the emitters 40 on the probe 100 (step 530). Synchronization of signals is well known in the art and need not be discussed further. Once pulse rates are synchronized, the digitizer 114 knows the times at which the light emitter set 40 on the probe 100 will light and defines localization frames 116 for the times at which the LEDs on the probe light (step 540).
  • the digitizer 114 can then direct the emitters 122 on the reference arc 120 to sequentially light, A1- A5, at times when the LEDs on the probe are not lit (step 550).
  • the digitizer 114 samples the sensor array 110 at times when emitters are expected to be on shown as probe localization frames 116 and can also sample for arc localization frames 117 (step 560).
  • the position of the reference arc 120 and the probe 100 may now be calculated as is known in the art (step 570).
  • the digitizer 114 will assume the probe is off. The digitizer 114 will then attempt to resynchronize using detection frames until the pattern 400 of the probe 100 is recognized. The probe signal could be lost if it were blocked or the clock signal were out of phase. Once resynchronized, the digitizer 114 resumes processing as discussed above.
  • the circuit shown in Fig. 2 can be included in the reference arc 120 instead of the probe 100 so that the reference arc can be wireless and independently perform the pattern 400 of Fig. 3.
  • computer 108 does not activate the emitters on the reference arc but must synchronize and recognize the reference pattern 400 in the same manner discussed above with respect to the probe.
  • it is the probe instead of the arc that may be wired and controlled by the digitizer 114.
  • the circuit shown in Fig. 1 can be included in both the probe 100 and reference arc 120. Therefore, both devices can be wireless and independently perform different patterns that can be recognized by the digitizer 114. In this case one of the device will have a pattern that is half the period of the other or differing patterns that can be recognized.
  • the digitizer 114 will distinguish between lights on the arc and the probe by using a known geometry of the probe and the arc to determine which detected lights belong to which element. The pattern and detection of the same are repeated allowing for enough data points of lights to be detected to determine a geometry of the detected lights.
  • the digitizer 114 can know the times at which lights are to be expected to be lit from both the probe and the arc.
  • Figs. 5 and 6 show example timing diagrams corresponding to this embodiment. As shown in Figs. 5 and 6 the probe is localized during periods where only the probe emitters 366, 368, and 369 are on and the reference arc 120 is localized during periods when only the emitters A1-A5 on the reference arc are on.
  • Fig. 5 shows an example where the patterns of both the emitters on the reference arc 120 and the probe 100 are close in phase and
  • Fig. 6 show an example where the patterns of both the emitters on the reference arc 120 and the probe 100 are out of phase.
  • the digitizer 114 may turn on emitters on a third device, such as another probe to detect the position of the third device. For example, in Fig. 6 during the no localization period when both the emitters on the probe and arc are off, the digitizer 114 may initiate LEDs to light on a third structure.
  • the pattern lighting registration system of the present invention may be used in connection with any type of image guided surgery system including those described in U.S. Patent No. 5,383,454 to Bucholz: PCT Application No. PCT/US94/04530 (Publication No. WO 94/24933) to Bucholz: and PCT Application No. PCT/US95/12984 (Publication No. WO 96/11624) to Bucholz et al.
  • the emitters on either the probe or the reference arc are replaced with reflectors that reflect light emitted from an external source, such as the digitizer unit.
  • the probe or reference arc with reflectors will be localized during the A1-A5 cycles.
  • Systems and methods consistent with the present invention allow for a probe or reference arc used in image guided surgery to be continuously and easily monitored without the surgeon having to repeatedly initiate the monitoring or having the surgical instruments cabled. This is achieved by placing emitters on the probe 100 or reference arc 120 that light in an ordered pattern 400 recognized by a processor so that the processing system knows the times at which the emitters will be activated.

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Robotics (AREA)
  • Surgical Instruments (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

Sonde sans fil pouvant être poursuivie, à utiliser dans des systèmes médicaux guidés par l'image et de navigation chirurgicale, assistés par ordinateur, et permettant la localisation sans fil d'images au cours de procédures chirurgicales et médicales. La sonde présente des émetteurs destinés à être poursuivis par le système. Elle comprend en outre un circuit de commande qui active les émetteurs selon un modèle prédéterminé reconnaissable par le système. Ledit système présente un arc de référence positionné par rapport au patient et également doté d'émetteurs. Les émetteurs placés sur l'arc de référence sont activés et poursuivis pendant les périodes pendant lesquelles les émetteurs de la sonde sont inactifs.
PCT/US1998/027841 1997-12-31 1998-12-30 Systeme de sonde sans fil, a utiliser avec un dispositif chirurgical stereotaxique WO1999033406A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DE19882935T DE19882935B4 (de) 1997-12-31 1998-12-30 Systeme für das Anzeigen einer Position eines Objekts während einer Operation
AU20227/99A AU2022799A (en) 1997-12-31 1998-12-30 Wireless probe system for use with a stereotactic surgical device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US195697A 1997-12-31 1997-12-31
US09/001,956 1997-12-31

Publications (1)

Publication Number Publication Date
WO1999033406A1 true WO1999033406A1 (fr) 1999-07-08

Family

ID=21698584

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US1998/027841 WO1999033406A1 (fr) 1997-12-31 1998-12-30 Systeme de sonde sans fil, a utiliser avec un dispositif chirurgical stereotaxique

Country Status (3)

Country Link
AU (1) AU2022799A (fr)
DE (1) DE19882935B4 (fr)
WO (1) WO1999033406A1 (fr)

Cited By (52)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2830743A1 (fr) * 2001-10-11 2003-04-18 Surgiview Sa Stylo palpeur a enclenchement d'emission au contact d'une surface
EP1341465A1 (fr) * 1998-05-14 2003-09-10 Calypso Medical, Inc Systemes et procedes de localisation et definition d'une cible interieure au corps humain
USRE42194E1 (en) 1997-09-24 2011-03-01 Medtronic Navigation, Inc. Percutaneous registration apparatus and method for use in computer-assisted surgical navigation
US7998062B2 (en) 2004-03-29 2011-08-16 Superdimension, Ltd. Endoscope structures and techniques for navigating to a target in branched structure
USRE43328E1 (en) 1997-11-20 2012-04-24 Medtronic Navigation, Inc Image guided awl/tap/screwdriver
US8246602B2 (en) 2002-12-23 2012-08-21 Medtronic, Inc. Catheters with tracking elements and permeable membranes
USRE43952E1 (en) 1989-10-05 2013-01-29 Medtronic Navigation, Inc. Interactive system for local intervention inside a non-homogeneous structure
US8452068B2 (en) 2008-06-06 2013-05-28 Covidien Lp Hybrid registration method
US8473032B2 (en) 2008-06-03 2013-06-25 Superdimension, Ltd. Feature-based registration method
US8611984B2 (en) 2009-04-08 2013-12-17 Covidien Lp Locatable catheter
US8663088B2 (en) 2003-09-15 2014-03-04 Covidien Lp System of accessories for use with bronchoscopes
US8764725B2 (en) 2004-02-09 2014-07-01 Covidien Lp Directional anchoring mechanism, method and applications thereof
US8838199B2 (en) 2002-04-04 2014-09-16 Medtronic Navigation, Inc. Method and apparatus for virtual digital subtraction angiography
US8905920B2 (en) 2007-09-27 2014-12-09 Covidien Lp Bronchoscope adapter and method
US8932207B2 (en) 2008-07-10 2015-01-13 Covidien Lp Integrated multi-functional endoscopic tool
US9055881B2 (en) 2004-04-26 2015-06-16 Super Dimension Ltd. System and method for image-based alignment of an endoscope
US9072895B2 (en) 2001-06-08 2015-07-07 Varian Medical Systems, Inc. Guided radiation therapy system
US9168102B2 (en) 2006-01-18 2015-10-27 Medtronic Navigation, Inc. Method and apparatus for providing a container to a sterile environment
US9237860B2 (en) 2008-06-05 2016-01-19 Varian Medical Systems, Inc. Motion compensation for medical imaging and associated systems and methods
US9238151B2 (en) 2004-07-23 2016-01-19 Varian Medical Systems, Inc. Dynamic/adaptive treatment planning for radiation therapy
US9248003B2 (en) 2002-12-30 2016-02-02 Varian Medical Systems, Inc. Receiver used in marker localization sensing system and tunable to marker frequency
US9283053B2 (en) 2005-09-19 2016-03-15 Varian Medical Systems, Inc. Apparatus and methods for implanting objects, such as bronchoscopically implanting markers in the lung of patients
US9486162B2 (en) 2010-01-08 2016-11-08 Ultrasonix Medical Corporation Spatial needle guidance system and associated methods
US9504530B2 (en) 1999-10-28 2016-11-29 Medtronic Navigation, Inc. Method and apparatus for surgical navigation
US9575140B2 (en) 2008-04-03 2017-02-21 Covidien Lp Magnetic interference detection system and method
US9586059B2 (en) 2004-07-23 2017-03-07 Varian Medical Systems, Inc. User interface for guided radiation therapy
US9597154B2 (en) 2006-09-29 2017-03-21 Medtronic, Inc. Method and apparatus for optimizing a computer assisted surgical procedure
US9616248B2 (en) 2002-06-05 2017-04-11 Varian Medical Systems, Inc. Integrated radiation therapy systems and methods for treating a target in a patient
US9623208B2 (en) 2004-01-12 2017-04-18 Varian Medical Systems, Inc. Instruments with location markers and methods for tracking instruments through anatomical passageways
US9675424B2 (en) 2001-06-04 2017-06-13 Surgical Navigation Technologies, Inc. Method for calibrating a navigation system
US9757087B2 (en) 2002-02-28 2017-09-12 Medtronic Navigation, Inc. Method and apparatus for perspective inversion
US9867721B2 (en) 2003-01-30 2018-01-16 Medtronic Navigation, Inc. Method and apparatus for post-operative tuning of a spinal implant
US9919165B2 (en) 2014-05-07 2018-03-20 Varian Medical Systems, Inc. Systems and methods for fiducial to plan association
US10043284B2 (en) 2014-05-07 2018-08-07 Varian Medical Systems, Inc. Systems and methods for real-time tumor tracking
US10195464B2 (en) 2004-06-24 2019-02-05 Varian Medical Systems, Inc. Systems and methods for treating a lung of a patient using guided radiation therapy or surgery
US10293135B2 (en) 2010-10-01 2019-05-21 Varian Medical Systems, Inc. Delivery catheter for and method of delivering implant, for example, bronchoscopically implanting a marker in a lung
US10418705B2 (en) 2016-10-28 2019-09-17 Covidien Lp Electromagnetic navigation antenna assembly and electromagnetic navigation system including the same
US10426555B2 (en) 2015-06-03 2019-10-01 Covidien Lp Medical instrument with sensor for use in a system and method for electromagnetic navigation
US10446931B2 (en) 2016-10-28 2019-10-15 Covidien Lp Electromagnetic navigation antenna assembly and electromagnetic navigation system including the same
US10478254B2 (en) 2016-05-16 2019-11-19 Covidien Lp System and method to access lung tissue
US10517505B2 (en) 2016-10-28 2019-12-31 Covidien Lp Systems, methods, and computer-readable media for optimizing an electromagnetic navigation system
US10582834B2 (en) 2010-06-15 2020-03-10 Covidien Lp Locatable expandable working channel and method
US10615500B2 (en) 2016-10-28 2020-04-07 Covidien Lp System and method for designing electromagnetic navigation antenna assemblies
US10638952B2 (en) 2016-10-28 2020-05-05 Covidien Lp Methods, systems, and computer-readable media for calibrating an electromagnetic navigation system
US10722311B2 (en) 2016-10-28 2020-07-28 Covidien Lp System and method for identifying a location and/or an orientation of an electromagnetic sensor based on a map
US10751126B2 (en) 2016-10-28 2020-08-25 Covidien Lp System and method for generating a map for electromagnetic navigation
US10792106B2 (en) 2016-10-28 2020-10-06 Covidien Lp System for calibrating an electromagnetic navigation system
US10898153B2 (en) 2000-03-01 2021-01-26 Medtronic Navigation, Inc. Multiple cannula image guided tool for image guided procedures
US10952593B2 (en) 2014-06-10 2021-03-23 Covidien Lp Bronchoscope adapter
US11006914B2 (en) 2015-10-28 2021-05-18 Medtronic Navigation, Inc. Apparatus and method for maintaining image quality while minimizing x-ray dosage of a patient
US11219489B2 (en) 2017-10-31 2022-01-11 Covidien Lp Devices and systems for providing sensors in parallel with medical tools
US11331150B2 (en) 1999-10-28 2022-05-17 Medtronic Navigation, Inc. Method and apparatus for surgical navigation

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4225112C1 (de) * 1992-07-30 1993-12-09 Bodenseewerk Geraetetech Einrichtung zum Messen der Position eines Instruments relativ zu einem Behandlungsobjekt
WO1994024933A1 (fr) 1993-04-26 1994-11-10 St. Louis University Indication de la position d'une sonde chirurgicale
US5383454A (en) 1990-10-19 1995-01-24 St. Louis University System for indicating the position of a surgical probe within a head on an image of the head
WO1995025475A1 (fr) * 1994-03-24 1995-09-28 Elekta Instrument Ab Dispositif de detection de la position d'instruments chirurgicaux
WO1996011624A2 (fr) 1994-10-07 1996-04-25 St. Louis University Systemes de guidage chirurgical comprenant des cadres de reference et de localisation
US5622170A (en) * 1990-10-19 1997-04-22 Image Guided Technologies, Inc. Apparatus for determining the position and orientation of an invasive portion of a probe inside a three-dimensional body

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5383454A (en) 1990-10-19 1995-01-24 St. Louis University System for indicating the position of a surgical probe within a head on an image of the head
US5383454B1 (en) 1990-10-19 1996-12-31 Univ St Louis System for indicating the position of a surgical probe within a head on an image of the head
US5622170A (en) * 1990-10-19 1997-04-22 Image Guided Technologies, Inc. Apparatus for determining the position and orientation of an invasive portion of a probe inside a three-dimensional body
DE4225112C1 (de) * 1992-07-30 1993-12-09 Bodenseewerk Geraetetech Einrichtung zum Messen der Position eines Instruments relativ zu einem Behandlungsobjekt
WO1994024933A1 (fr) 1993-04-26 1994-11-10 St. Louis University Indication de la position d'une sonde chirurgicale
WO1995025475A1 (fr) * 1994-03-24 1995-09-28 Elekta Instrument Ab Dispositif de detection de la position d'instruments chirurgicaux
WO1996011624A2 (fr) 1994-10-07 1996-04-25 St. Louis University Systemes de guidage chirurgical comprenant des cadres de reference et de localisation

Cited By (96)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
USRE43952E1 (en) 1989-10-05 2013-01-29 Medtronic Navigation, Inc. Interactive system for local intervention inside a non-homogeneous structure
USRE42194E1 (en) 1997-09-24 2011-03-01 Medtronic Navigation, Inc. Percutaneous registration apparatus and method for use in computer-assisted surgical navigation
USRE42226E1 (en) 1997-09-24 2011-03-15 Medtronic Navigation, Inc. Percutaneous registration apparatus and method for use in computer-assisted surgical navigation
USRE44305E1 (en) 1997-09-24 2013-06-18 Medtronic Navigation, Inc. Percutaneous registration apparatus and method for use in computer-assisted surgical navigation
USRE46422E1 (en) 1997-11-20 2017-06-06 Medtronic Navigation, Inc. Image guided awl/tap/screwdriver
USRE43328E1 (en) 1997-11-20 2012-04-24 Medtronic Navigation, Inc Image guided awl/tap/screwdriver
USRE46409E1 (en) 1997-11-20 2017-05-23 Medtronic Navigation, Inc. Image guided awl/tap/screwdriver
EP1341465A1 (fr) * 1998-05-14 2003-09-10 Calypso Medical, Inc Systemes et procedes de localisation et definition d'une cible interieure au corps humain
EP1341465A4 (fr) * 1998-05-14 2006-08-23 Calypso Medical Inc Systemes et procedes de localisation et definition d'une cible interieure au corps humain
US9504530B2 (en) 1999-10-28 2016-11-29 Medtronic Navigation, Inc. Method and apparatus for surgical navigation
US11331150B2 (en) 1999-10-28 2022-05-17 Medtronic Navigation, Inc. Method and apparatus for surgical navigation
US10898153B2 (en) 2000-03-01 2021-01-26 Medtronic Navigation, Inc. Multiple cannula image guided tool for image guided procedures
US9675424B2 (en) 2001-06-04 2017-06-13 Surgical Navigation Technologies, Inc. Method for calibrating a navigation system
US9072895B2 (en) 2001-06-08 2015-07-07 Varian Medical Systems, Inc. Guided radiation therapy system
FR2830743A1 (fr) * 2001-10-11 2003-04-18 Surgiview Sa Stylo palpeur a enclenchement d'emission au contact d'une surface
US9757087B2 (en) 2002-02-28 2017-09-12 Medtronic Navigation, Inc. Method and apparatus for perspective inversion
US8838199B2 (en) 2002-04-04 2014-09-16 Medtronic Navigation, Inc. Method and apparatus for virtual digital subtraction angiography
US8696548B2 (en) 2002-04-17 2014-04-15 Covidien Lp Endoscope structures and techniques for navigating to a target in branched structure
US9642514B2 (en) 2002-04-17 2017-05-09 Covidien Lp Endoscope structures and techniques for navigating to a target in a branched structure
US10743748B2 (en) 2002-04-17 2020-08-18 Covidien Lp Endoscope structures and techniques for navigating to a target in branched structure
US9616248B2 (en) 2002-06-05 2017-04-11 Varian Medical Systems, Inc. Integrated radiation therapy systems and methods for treating a target in a patient
US9682253B2 (en) 2002-06-05 2017-06-20 Varian Medical Systems, Inc. Integrated radiation therapy systems and methods for treating a target in a patient
US8246602B2 (en) 2002-12-23 2012-08-21 Medtronic, Inc. Catheters with tracking elements and permeable membranes
US9248003B2 (en) 2002-12-30 2016-02-02 Varian Medical Systems, Inc. Receiver used in marker localization sensing system and tunable to marker frequency
US9867721B2 (en) 2003-01-30 2018-01-16 Medtronic Navigation, Inc. Method and apparatus for post-operative tuning of a spinal implant
US11684491B2 (en) 2003-01-30 2023-06-27 Medtronic Navigation, Inc. Method and apparatus for post-operative tuning of a spinal implant
US11707363B2 (en) 2003-01-30 2023-07-25 Medtronic Navigation, Inc. Method and apparatus for post-operative tuning of a spinal implant
US9089261B2 (en) 2003-09-15 2015-07-28 Covidien Lp System of accessories for use with bronchoscopes
US8663088B2 (en) 2003-09-15 2014-03-04 Covidien Lp System of accessories for use with bronchoscopes
US10383509B2 (en) 2003-09-15 2019-08-20 Covidien Lp System of accessories for use with bronchoscopes
US9623208B2 (en) 2004-01-12 2017-04-18 Varian Medical Systems, Inc. Instruments with location markers and methods for tracking instruments through anatomical passageways
US8764725B2 (en) 2004-02-09 2014-07-01 Covidien Lp Directional anchoring mechanism, method and applications thereof
US7998062B2 (en) 2004-03-29 2011-08-16 Superdimension, Ltd. Endoscope structures and techniques for navigating to a target in branched structure
US9055881B2 (en) 2004-04-26 2015-06-16 Super Dimension Ltd. System and method for image-based alignment of an endoscope
US10321803B2 (en) 2004-04-26 2019-06-18 Covidien Lp System and method for image-based alignment of an endoscope
US11439847B2 (en) 2004-06-24 2022-09-13 Varian Medical Systems, Inc. Systems and methods for treating a lung of a patient using guided radiation therapy or surgery
US10195464B2 (en) 2004-06-24 2019-02-05 Varian Medical Systems, Inc. Systems and methods for treating a lung of a patient using guided radiation therapy or surgery
US9586059B2 (en) 2004-07-23 2017-03-07 Varian Medical Systems, Inc. User interface for guided radiation therapy
US9238151B2 (en) 2004-07-23 2016-01-19 Varian Medical Systems, Inc. Dynamic/adaptive treatment planning for radiation therapy
US9283053B2 (en) 2005-09-19 2016-03-15 Varian Medical Systems, Inc. Apparatus and methods for implanting objects, such as bronchoscopically implanting markers in the lung of patients
US10653496B2 (en) 2005-09-19 2020-05-19 Varian Medical Systems, Inc. Apparatus and methods for implanting objects, such as a bronchoscopically implanting markers in the lung of patients
US9168102B2 (en) 2006-01-18 2015-10-27 Medtronic Navigation, Inc. Method and apparatus for providing a container to a sterile environment
US10597178B2 (en) 2006-01-18 2020-03-24 Medtronic Navigation, Inc. Method and apparatus for providing a container to a sterile environment
US9597154B2 (en) 2006-09-29 2017-03-21 Medtronic, Inc. Method and apparatus for optimizing a computer assisted surgical procedure
US8905920B2 (en) 2007-09-27 2014-12-09 Covidien Lp Bronchoscope adapter and method
US10390686B2 (en) 2007-09-27 2019-08-27 Covidien Lp Bronchoscope adapter and method
US10980400B2 (en) 2007-09-27 2021-04-20 Covidien Lp Bronchoscope adapter and method
US9986895B2 (en) 2007-09-27 2018-06-05 Covidien Lp Bronchoscope adapter and method
US9668639B2 (en) 2007-09-27 2017-06-06 Covidien Lp Bronchoscope adapter and method
US9575140B2 (en) 2008-04-03 2017-02-21 Covidien Lp Magnetic interference detection system and method
US8473032B2 (en) 2008-06-03 2013-06-25 Superdimension, Ltd. Feature-based registration method
US9659374B2 (en) 2008-06-03 2017-05-23 Covidien Lp Feature-based registration method
US11074702B2 (en) 2008-06-03 2021-07-27 Covidien Lp Feature-based registration method
US10096126B2 (en) 2008-06-03 2018-10-09 Covidien Lp Feature-based registration method
US9117258B2 (en) 2008-06-03 2015-08-25 Covidien Lp Feature-based registration method
US11783498B2 (en) 2008-06-03 2023-10-10 Covidien Lp Feature-based registration method
US9237860B2 (en) 2008-06-05 2016-01-19 Varian Medical Systems, Inc. Motion compensation for medical imaging and associated systems and methods
US8467589B2 (en) 2008-06-06 2013-06-18 Covidien Lp Hybrid registration method
US11931141B2 (en) 2008-06-06 2024-03-19 Covidien Lp Hybrid registration method
US9271803B2 (en) 2008-06-06 2016-03-01 Covidien Lp Hybrid registration method
US8452068B2 (en) 2008-06-06 2013-05-28 Covidien Lp Hybrid registration method
US10674936B2 (en) 2008-06-06 2020-06-09 Covidien Lp Hybrid registration method
US10478092B2 (en) 2008-06-06 2019-11-19 Covidien Lp Hybrid registration method
US10285623B2 (en) 2008-06-06 2019-05-14 Covidien Lp Hybrid registration method
US10070801B2 (en) 2008-07-10 2018-09-11 Covidien Lp Integrated multi-functional endoscopic tool
US11241164B2 (en) 2008-07-10 2022-02-08 Covidien Lp Integrated multi-functional endoscopic tool
US11234611B2 (en) 2008-07-10 2022-02-01 Covidien Lp Integrated multi-functional endoscopic tool
US8932207B2 (en) 2008-07-10 2015-01-13 Covidien Lp Integrated multi-functional endoscopic tool
US10912487B2 (en) 2008-07-10 2021-02-09 Covidien Lp Integrated multi-function endoscopic tool
US8611984B2 (en) 2009-04-08 2013-12-17 Covidien Lp Locatable catheter
US9113813B2 (en) 2009-04-08 2015-08-25 Covidien Lp Locatable catheter
US10154798B2 (en) 2009-04-08 2018-12-18 Covidien Lp Locatable catheter
US9486162B2 (en) 2010-01-08 2016-11-08 Ultrasonix Medical Corporation Spatial needle guidance system and associated methods
US10582834B2 (en) 2010-06-15 2020-03-10 Covidien Lp Locatable expandable working channel and method
US10293135B2 (en) 2010-10-01 2019-05-21 Varian Medical Systems, Inc. Delivery catheter for and method of delivering implant, for example, bronchoscopically implanting a marker in a lung
US9919165B2 (en) 2014-05-07 2018-03-20 Varian Medical Systems, Inc. Systems and methods for fiducial to plan association
US10043284B2 (en) 2014-05-07 2018-08-07 Varian Medical Systems, Inc. Systems and methods for real-time tumor tracking
US10952593B2 (en) 2014-06-10 2021-03-23 Covidien Lp Bronchoscope adapter
US10426555B2 (en) 2015-06-03 2019-10-01 Covidien Lp Medical instrument with sensor for use in a system and method for electromagnetic navigation
US11006914B2 (en) 2015-10-28 2021-05-18 Medtronic Navigation, Inc. Apparatus and method for maintaining image quality while minimizing x-ray dosage of a patient
US11801024B2 (en) 2015-10-28 2023-10-31 Medtronic Navigation, Inc. Apparatus and method for maintaining image quality while minimizing x-ray dosage of a patient
US10478254B2 (en) 2016-05-16 2019-11-19 Covidien Lp System and method to access lung tissue
US11160617B2 (en) 2016-05-16 2021-11-02 Covidien Lp System and method to access lung tissue
US11786317B2 (en) 2016-05-16 2023-10-17 Covidien Lp System and method to access lung tissue
US10446931B2 (en) 2016-10-28 2019-10-15 Covidien Lp Electromagnetic navigation antenna assembly and electromagnetic navigation system including the same
US10517505B2 (en) 2016-10-28 2019-12-31 Covidien Lp Systems, methods, and computer-readable media for optimizing an electromagnetic navigation system
US10792106B2 (en) 2016-10-28 2020-10-06 Covidien Lp System for calibrating an electromagnetic navigation system
US11672604B2 (en) 2016-10-28 2023-06-13 Covidien Lp System and method for generating a map for electromagnetic navigation
US10615500B2 (en) 2016-10-28 2020-04-07 Covidien Lp System and method for designing electromagnetic navigation antenna assemblies
US11759264B2 (en) 2016-10-28 2023-09-19 Covidien Lp System and method for identifying a location and/or an orientation of an electromagnetic sensor based on a map
US10418705B2 (en) 2016-10-28 2019-09-17 Covidien Lp Electromagnetic navigation antenna assembly and electromagnetic navigation system including the same
US10638952B2 (en) 2016-10-28 2020-05-05 Covidien Lp Methods, systems, and computer-readable media for calibrating an electromagnetic navigation system
US11786314B2 (en) 2016-10-28 2023-10-17 Covidien Lp System for calibrating an electromagnetic navigation system
US10722311B2 (en) 2016-10-28 2020-07-28 Covidien Lp System and method for identifying a location and/or an orientation of an electromagnetic sensor based on a map
US10751126B2 (en) 2016-10-28 2020-08-25 Covidien Lp System and method for generating a map for electromagnetic navigation
US11219489B2 (en) 2017-10-31 2022-01-11 Covidien Lp Devices and systems for providing sensors in parallel with medical tools

Also Published As

Publication number Publication date
DE19882935B4 (de) 2005-02-10
AU2022799A (en) 1999-07-19
DE19882935T1 (de) 2001-10-04

Similar Documents

Publication Publication Date Title
WO1999033406A1 (fr) Systeme de sonde sans fil, a utiliser avec un dispositif chirurgical stereotaxique
JP4938933B2 (ja) 光ポイントの照射による医療用ナビゲーションシステムにおける患者または患者の身体部分の参照または記録
US6236875B1 (en) Surgical navigation systems including reference and localization frames
US8483434B2 (en) Technique for registering image data of an object
RU2492884C2 (ru) Способ и устройство для отслеживания положения терапевтического ультразвукового преобразователя
JP3792257B2 (ja) 画像誘導手術システム
US20070299334A1 (en) Medical instrument with a touch-sensitive tip and light emission source
US8577439B2 (en) System and method for positioning electrodes on a patient body
US20140107477A1 (en) Frameless radiosurgery treatment system and method
US20110098553A1 (en) Automatic registration of images for image guided surgery
JP6535674B2 (ja) 体内の医療機器の動きを観察するシステムおよび方法
JP2014525766A (ja) 位置追跡システムを具備した骨操縦用アセンブリ
KR20080071921A (ko) 교정 장치 및 교정 방법
JPH11332851A (ja) 活性部位を位置決定するための装置及び方法
US11660148B2 (en) System and method for monitoring offset during navigation-assisted surgery
EP3250104B1 (fr) Procédé d'identification de point lumineux
JP4417877B2 (ja) 光送受信装置制御システム
JPH11155963A (ja) 放射ビーム照射システム
CN112867536B (zh) 患者移动状态的检测方法、装置及系统
CN112450908A (zh) 医用图像诊断装置以及心搏计测装置
WO2021198240A1 (fr) Positionnement de capteur avec dispositif de suivi de placement amovible
JP2003325478A (ja) 磁気共鳴撮影装置
CN118678920A (zh) 成像附件的触觉反馈辅助的定位
JPWO2021198340A5 (fr)
JP2007275221A (ja) 磁気共鳴イメージング装置

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): AL AM AT AU AZ BA BB BG BR BY CA CH CN CU CZ DE DK EE ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MD MG MK MN MW MX NO NZ PL PT RO RU SD SE SG SI SK SL TJ TM TR TT UA UG UZ VN YU ZW

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): GH GM KE LS MW SD SZ UG ZW AM AZ BY KG KZ MD RU TJ TM AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE BF BJ CF CG CI CM GA GN GW ML MR NE SN TD TG

DFPE Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101)
121 Ep: the epo has been informed by wipo that ep was designated in this application
NENP Non-entry into the national phase

Ref country code: KR

122 Ep: pct application non-entry in european phase
RET De translation (de og part 6b)

Ref document number: 19882935

Country of ref document: DE

Date of ref document: 20011004

WWE Wipo information: entry into national phase

Ref document number: 19882935

Country of ref document: DE