WO2021054659A3 - Device and method for surgical navigation - Google Patents

Device and method for surgical navigation Download PDF

Info

Publication number
WO2021054659A3
WO2021054659A3 PCT/KR2020/011896 KR2020011896W WO2021054659A3 WO 2021054659 A3 WO2021054659 A3 WO 2021054659A3 KR 2020011896 W KR2020011896 W KR 2020011896W WO 2021054659 A3 WO2021054659 A3 WO 2021054659A3
Authority
WO
WIPO (PCT)
Prior art keywords
surgical
marker
regarding
correlation
reference point
Prior art date
Application number
PCT/KR2020/011896
Other languages
French (fr)
Korean (ko)
Other versions
WO2021054659A2 (en
Inventor
김봉오
임흥순
Original Assignee
큐렉소 주식회사
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 큐렉소 주식회사 filed Critical 큐렉소 주식회사
Publication of WO2021054659A2 publication Critical patent/WO2021054659A2/en
Publication of WO2021054659A3 publication Critical patent/WO2021054659A3/en

Links

Classifications

    • 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
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • 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
    • 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
    • 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
    • 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
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
    • A61F2/4603—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor for insertion or extraction of endoprosthetic joints or of accessories thereof
    • A61F2/461—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor for insertion or extraction of endoprosthetic joints or of accessories thereof of knees
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00115—Electrical control of surgical instruments with audible or visual output
    • A61B2017/00119—Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00115—Electrical control of surgical instruments with audible or visual output
    • A61B2017/00128—Electrical control of surgical instruments with audible or visual output related to intensity or progress of surgical action
    • 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
    • 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
    • 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
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3904—Markers, e.g. radio-opaque or breast lesions markers specially adapted for marking specified tissue
    • A61B2090/3916—Bone tissue
    • 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
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3983—Reference marker arrangements for use with image guided surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
    • A61F2002/4632—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor using computer-controlled surgery, e.g. robotic surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
    • A61F2002/4635—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor using minimally invasive surgery

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Robotics (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Transplantation (AREA)
  • Pathology (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Cardiology (AREA)
  • Vascular Medicine (AREA)
  • Gynecology & Obstetrics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Manipulator (AREA)
  • Image Processing (AREA)

Abstract

The present invention relates to a device and a method for surgical navigation. A device for surgical navigation according to the present invention comprises: an object matching unit for matching a first image including an object marker attached to a surgical object and a second image regarding the surgical object before surgery, thereby deriving a correlation regarding positions and postures between the object marker attached to the surgical object and the surgical object; a reference position storage unit for configuring and storing a reference position regarding at least one reference point of the surgical object on the basis of the correlation between the object marker and the surgical object derived by the object matching unit; a position calculation unit for receiving information regarding the position and posture of the object marker and calculating the position of the reference point of the surgical object on the basis of the derived correlation; and a marker deformation determination unit for determining that, when the position of the reference point calculated by the position calculation unit has deviated from the reference position, the object marker has deformed. Accordingly, whether the object marker has deformed can be easily detected in real time.
PCT/KR2020/011896 2019-09-18 2020-09-03 Device and method for surgical navigation WO2021054659A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020190114451A KR102274175B1 (en) 2019-09-18 2019-09-18 Surgical navigation apparatus and the method thereof
KR10-2019-0114451 2019-09-18

Publications (2)

Publication Number Publication Date
WO2021054659A2 WO2021054659A2 (en) 2021-03-25
WO2021054659A3 true WO2021054659A3 (en) 2021-05-14

Family

ID=74884632

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2020/011896 WO2021054659A2 (en) 2019-09-18 2020-09-03 Device and method for surgical navigation

Country Status (2)

Country Link
KR (1) KR102274175B1 (en)
WO (1) WO2021054659A2 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115607286B (en) * 2022-12-20 2023-03-17 北京维卓致远医疗科技发展有限责任公司 Knee joint replacement surgery navigation method, system and equipment based on binocular calibration
CN117243699B (en) * 2023-11-14 2024-03-15 杭州三坛医疗科技有限公司 Displacement detection method and device

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030056385A1 (en) * 2001-09-15 2003-03-27 Aesculap Ag & Co. Kg Method and device for checking a marking element for displacement
KR20120092355A (en) * 2011-02-11 2012-08-21 전남대학교산학협력단 Bone motion monitoring and path regenerating system using three-dimensional optical tracker
WO2013189520A1 (en) * 2012-06-19 2013-12-27 Brainlab Ag Method and apparatus for detecting undesirable rotation of medical markers
KR20160069180A (en) * 2014-12-08 2016-06-16 현대중공업 주식회사 CT-Robot Registration System for Interventional Robot
KR20160074912A (en) * 2014-12-19 2016-06-29 주식회사 고영테크놀러지 Optical tracking system and tracking method in optical tracking system

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9541630B2 (en) 2013-02-15 2017-01-10 Qualcomm Incorporated Method and apparatus for determining a change in position of a location marker

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030056385A1 (en) * 2001-09-15 2003-03-27 Aesculap Ag & Co. Kg Method and device for checking a marking element for displacement
KR20120092355A (en) * 2011-02-11 2012-08-21 전남대학교산학협력단 Bone motion monitoring and path regenerating system using three-dimensional optical tracker
WO2013189520A1 (en) * 2012-06-19 2013-12-27 Brainlab Ag Method and apparatus for detecting undesirable rotation of medical markers
KR20160069180A (en) * 2014-12-08 2016-06-16 현대중공업 주식회사 CT-Robot Registration System for Interventional Robot
KR20160074912A (en) * 2014-12-19 2016-06-29 주식회사 고영테크놀러지 Optical tracking system and tracking method in optical tracking system

Also Published As

Publication number Publication date
WO2021054659A2 (en) 2021-03-25
KR20210033563A (en) 2021-03-29
KR102274175B1 (en) 2021-07-12

Similar Documents

Publication Publication Date Title
US11730547B2 (en) Tracking system and tracking method using same
WO2021054659A3 (en) Device and method for surgical navigation
US8682608B2 (en) Behavior recognition apparatus
JP5877053B2 (en) Posture estimation apparatus and posture estimation method
EP3709156A3 (en) Systems and methods for providing a virtual assistant
WO2009028489A1 (en) Object detecting method, object detecting device, and robot system
RU2011138017A (en) COMPUTER VIDEO GAME SYSTEM WITH BODY POSITION DETECTOR, WHICH REQUIRES FROM USER TO ACCEPT VARIOUS BODY POSITIONS
JP2020520752A5 (en)
JP2005528707A5 (en)
US9802310B2 (en) Mobile robot estimating own position using a class-based own-position estimation unit
US20210099796A1 (en) Signal processing device and signal processing method
WO2007096557A3 (en) Automatic detection of a surgical tool on an image provided by a medical imaging system
JP2013105285A5 (en)
WO2005017644A3 (en) 3-dimensional measurement device and electronic storage medium
WO2005017644A1 (en) 3-dimensional measurement device and electronic storage medium
JP2008261755A5 (en)
WO2020031950A9 (en) Measurement calibration device, measurement calibration method, and program
JP2015176253A (en) Gesture recognition device and control method thereof
RU2016115038A (en) METHOD AND DEVICE FOR RECOGNITION OF OBJECT
WO2021084320A3 (en) System and method for computer-aided surgical navigation implementing 3d scans
US20180095549A1 (en) Detection method and detection apparatus for detecting three-dimensional position of object
US20160093053A1 (en) Detection method and detection apparatus for detecting three-dimensional position of object
US20180070816A1 (en) System and method for capturing spatially and temporally coherent eye gaze and hand data during performance of a manual task
JP2018112506A5 (en)
MY188075A (en) Pose detection method and device, electronic device and storage medium

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20865697

Country of ref document: EP

Kind code of ref document: A2

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20865697

Country of ref document: EP

Kind code of ref document: A2