WO2010093153A3 - 수술용 항법 장치 및 그 방법 - Google Patents

수술용 항법 장치 및 그 방법 Download PDF

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Publication number
WO2010093153A3
WO2010093153A3 PCT/KR2010/000764 KR2010000764W WO2010093153A3 WO 2010093153 A3 WO2010093153 A3 WO 2010093153A3 KR 2010000764 W KR2010000764 W KR 2010000764W WO 2010093153 A3 WO2010093153 A3 WO 2010093153A3
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WO
WIPO (PCT)
Prior art keywords
image data
patient
navigation apparatus
surgical navigation
surgery
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Application number
PCT/KR2010/000764
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English (en)
French (fr)
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WO2010093153A2 (ko
Inventor
최승욱
이민규
Original Assignee
주식회사 래보
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Application filed by 주식회사 래보 filed Critical 주식회사 래보
Priority to CN2010800075455A priority Critical patent/CN102316817B/zh
Priority to US13/144,225 priority patent/US20110270084A1/en
Publication of WO2010093153A2 publication Critical patent/WO2010093153A2/ko
Publication of WO2010093153A3 publication Critical patent/WO2010093153A3/ko

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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
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR 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
    • 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
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00149—Holding or positioning arrangements using articulated arms
    • 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
    • A61B90/36—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
    • A61B90/36—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
    • A61B2090/367—Correlation of different images or relation of image positions in respect to the body creating a 3D dataset from 2D images using position information
    • 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
    • A61B2090/368—Correlation of different images or relation of image positions in respect to the body changing the image on a display according to the operator's position
    • 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
    • A61B34/30—Surgical robots
    • 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
    • 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
    • G06T2207/10016—Video; Image sequence
    • G06T2207/10021—Stereoscopic video; Stereoscopic image sequence
    • 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
    • G06T2207/10072—Tomographic images
    • 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
    • G06T2207/10116—X-ray image
    • 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
    • G06T2207/10132—Ultrasound image
    • 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
    • G06T2207/20—Special algorithmic details
    • G06T2207/20212—Image combination
    • G06T2207/20221—Image fusion; Image merging
    • 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
    • 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
    • G06T2207/30204—Marker

Abstract

수술용 항법 장치 및 그 방법이 개시된다. 본 발명에 따르면, 수술 전 촬상하여 생성한 환자의 기준 영상 데이터와 환자 위치 데이터를 이용하여 환자의 위치를 기준 영상 데이터에 정합하는 제1 정합부와, 환자 위치 데이터와 촬상부로부터 수신한 비교 영상 데이터를 실시간으로 정합하는 제2 정합부와, 환자 위치 데이터를 이용하여 비교 영상 데이터와 기준 영상 데이터를 실시간으로 정합하는 영상 처리부를 포함하는 수술용 항법 장치는 수술 중에 촬영되는 환부에 대한 영상을 실시간으로 제공하여 수술 전 촬영한 영상과 비교할 수 있도록 하며, 제공되는 영상은 내시경의 현재 위치 및 주변 구조물의 3D 형태로 출력될 수 있으므로, 의사의 편의성을 도모할 수 있는 효과가 있다.
PCT/KR2010/000764 2009-02-12 2010-02-08 수술용 항법 장치 및 그 방법 WO2010093153A2 (ko)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN2010800075455A CN102316817B (zh) 2009-02-12 2010-02-08 医疗导航系统的设备和操作方法
US13/144,225 US20110270084A1 (en) 2009-02-12 2010-02-08 Surgical navigation apparatus and method for same

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR20090011256 2009-02-12
KR10-2009-0011256 2009-02-12
KR10-2009-0015652 2009-02-25
KR1020090015652A KR100961661B1 (ko) 2009-02-12 2009-02-25 수술용 항법 장치 및 그 방법

Publications (2)

Publication Number Publication Date
WO2010093153A2 WO2010093153A2 (ko) 2010-08-19
WO2010093153A3 true WO2010093153A3 (ko) 2010-11-25

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US (1) US20110270084A1 (ko)
KR (1) KR100961661B1 (ko)
CN (1) CN102316817B (ko)
WO (1) WO2010093153A2 (ko)

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