WO2009154081A1 - 注射針誘導装置 - Google Patents
注射針誘導装置 Download PDFInfo
- Publication number
- WO2009154081A1 WO2009154081A1 PCT/JP2009/060189 JP2009060189W WO2009154081A1 WO 2009154081 A1 WO2009154081 A1 WO 2009154081A1 JP 2009060189 W JP2009060189 W JP 2009060189W WO 2009154081 A1 WO2009154081 A1 WO 2009154081A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- needle
- image
- blood vessel
- injection
- angle
- Prior art date
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Classifications
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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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/48—Other medical applications
- A61B5/4887—Locating particular structures in or on the body
- A61B5/489—Blood vessels
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
- A61M5/52—Arm-rests
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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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/102—Modelling of surgical devices, implants or prosthesis
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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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
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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
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
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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
- A61B90/36—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
- A61B2090/365—Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another image
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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
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/371—Surgical systems with images on a monitor during operation with simultaneous use of two cameras
-
- 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
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
- A61M5/42—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests having means for desensitising skin, for protruding skin to facilitate piercing, or for locating point where body is to be pierced
- A61M5/427—Locating point where body is to be pierced, e.g. vein location means using ultrasonic waves, injection site templates
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Public Health (AREA)
- Surgery (AREA)
- Pathology (AREA)
- Molecular Biology (AREA)
- Medical Informatics (AREA)
- Physics & Mathematics (AREA)
- Biophysics (AREA)
- Vascular Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Anesthesiology (AREA)
- Hematology (AREA)
- Infusion, Injection, And Reservoir Apparatuses (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
Description
2 側面カメラ
3 モニター画面
4 注射針誘導装置
5 平面画像
6 側面画像
7 総合画像
8 交点(側面画像上で、針の延長ラインと血管が交差する点)
9 血管
10 針、バーチャル針
11 針の延長ライン(進行仮想線)
12 距離及び角度を表示する円又は楕円
12-A 円又は楕円の横軸の長さ(針先から挿入目標までの距離を表すもの)
12-B 円又は楕円の縦軸の長さ(針の血管に対する角度を表すもの)
88 挿入目標
Claims (7)
- 近赤外線を用いて血管を画像化する手段と、可視光で針を画像化する手段と、体内に挿入された針及び針の延長ラインをバーチャルに画像化する手段を有することを特徴とする注射針誘導装置。
- 血管に向かって並列に設置された2台のカメラで取得する注射器、針及び、血管の画像情報から、血管と針及び針の延長ラインをバーチャルに画像化し、カメラ視点ごとに、血管と針及び針の延長ラインを合成画像とすることを特徴とする請求項1に記載の注射針誘導装置。
- 前記合成画像のうち、第1画像を座標軸X-Y、第2画像を座標軸X-Zで表すとき、第2画像の血管とバーチャル針の延長ラインが交差する交点のX軸の値を、第1画像のX軸の同じ値にある血管位置に針を挿入する仮目標としてマークし、注射器の方向操作で、第1画像のバーチャル針の延長ラインが、そのマークと合致するとき、そこに対して注射針の挿入を行うことを特徴とする請求項2に記載の注射針誘導装置。
- 前記マークと、針先からマークまでの距離及び、針の血管に対する角度の少なくとも一方を、前記合成画像に表示することを特徴とする請求項3に記載の注射針誘導装置。
- 前記針先からマークまでの距離と、前記針の血管に対する角度を、前記マークを中心とする図形で表し、針の動きに応じて、距離はその大きさで、角度はその形状変化で表現する奥行きイメージ画像とすることを特徴とする請求項4に記載の注射針誘導装置。
- 針が膚に接近する状況を、針と膚に落とす影を撮影して、その画像形状から針の接触直前を認識しモニターに予告表示、又は、音で警告することを特徴とする請求項1乃至5のいずれか1つに記載の注射針誘導装置。
- 前記合成画像を、立体映像ディスプレーで立体映像として表示することを特徴とする請求項2乃至6のいずれか1つに記載の注射針誘導装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN200980122379.0A CN102065928B (zh) | 2008-06-16 | 2009-06-03 | 注射针引导装置 |
EP09766529A EP2289578B1 (en) | 2008-06-16 | 2009-06-03 | Method for operating a syringe needle guiding apparatus |
BRPI0910028A BRPI0910028A2 (pt) | 2008-06-16 | 2009-06-03 | dispositivo de direcionando para agulha de seringa |
US12/999,179 US8467855B2 (en) | 2008-06-16 | 2009-06-03 | Syringe needle guiding apparatus |
Applications Claiming Priority (8)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008182010 | 2008-06-16 | ||
JP2008-182010 | 2008-06-16 | ||
JP2008211175 | 2008-07-23 | ||
JP2008-211175 | 2008-07-23 | ||
JP2008328705 | 2008-11-28 | ||
JP2008-328705 | 2008-11-28 | ||
JP2009-124537 | 2009-05-22 | ||
JP2009124537A JP4517004B2 (ja) | 2008-06-16 | 2009-05-22 | 注射針誘導装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2009154081A1 true WO2009154081A1 (ja) | 2009-12-23 |
Family
ID=41433997
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2009/060189 WO2009154081A1 (ja) | 2008-06-16 | 2009-06-03 | 注射針誘導装置 |
Country Status (7)
Country | Link |
---|---|
US (1) | US8467855B2 (ja) |
EP (1) | EP2289578B1 (ja) |
JP (1) | JP4517004B2 (ja) |
KR (1) | KR101031905B1 (ja) |
CN (1) | CN102065928B (ja) |
BR (1) | BRPI0910028A2 (ja) |
WO (1) | WO2009154081A1 (ja) |
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WO2012073774A1 (ja) * | 2010-12-02 | 2012-06-07 | 国立大学法人高知大学 | 近赤外蛍光を発する医療具及び医療具位置確認システム |
EP2641538A1 (en) * | 2010-11-15 | 2013-09-25 | Tatsuki Onishi | Blood vessel display device |
WO2013180127A1 (ja) | 2012-06-01 | 2013-12-05 | 国立大学法人高知大学 | 近赤外蛍光を発する医療品、および医療品の使用状況確認装置 |
JP2017000772A (ja) * | 2015-06-12 | 2017-01-05 | アヴァテラメディカル ゲーエムベーハー | ロボット支援手術のための装置及び方法 |
WO2018167770A1 (en) * | 2017-03-14 | 2018-09-20 | NanoMed Targeting Systems Inc | A system for precise injection of nano-formulations |
US10349886B2 (en) | 2012-05-29 | 2019-07-16 | National University Corporation Kochi University | Artery visualization device and artery imaging device |
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- 2009-06-03 KR KR1020107025229A patent/KR101031905B1/ko not_active IP Right Cessation
- 2009-06-03 BR BRPI0910028A patent/BRPI0910028A2/pt not_active IP Right Cessation
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CN103249359A (zh) * | 2010-12-02 | 2013-08-14 | 国立大学法人高知大学 | 发出近红外荧光的医疗器具及医疗器具位置确认系统 |
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JP2017000772A (ja) * | 2015-06-12 | 2017-01-05 | アヴァテラメディカル ゲーエムベーハー | ロボット支援手術のための装置及び方法 |
WO2018167770A1 (en) * | 2017-03-14 | 2018-09-20 | NanoMed Targeting Systems Inc | A system for precise injection of nano-formulations |
CN111096796A (zh) * | 2019-12-30 | 2020-05-05 | 哈尔滨工业大学 | 全自动静脉穿刺机器人多层控制系统 |
CN111096796B (zh) * | 2019-12-30 | 2021-11-19 | 哈尔滨工业大学 | 全自动静脉穿刺机器人多层控制系统 |
Also Published As
Publication number | Publication date |
---|---|
EP2289578B1 (en) | 2012-11-21 |
US8467855B2 (en) | 2013-06-18 |
KR20100135288A (ko) | 2010-12-24 |
CN102065928A (zh) | 2011-05-18 |
EP2289578A4 (en) | 2011-06-01 |
EP2289578A1 (en) | 2011-03-02 |
US20110092811A1 (en) | 2011-04-21 |
CN102065928B (zh) | 2014-01-08 |
JP2010148853A (ja) | 2010-07-08 |
BRPI0910028A2 (pt) | 2015-10-20 |
KR101031905B1 (ko) | 2011-05-02 |
JP4517004B2 (ja) | 2010-08-04 |
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