WO2022073784A1 - Système d'assistance chirurgical et procédé de visualisation - Google Patents

Système d'assistance chirurgical et procédé de visualisation Download PDF

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Publication number
WO2022073784A1
WO2022073784A1 PCT/EP2021/076484 EP2021076484W WO2022073784A1 WO 2022073784 A1 WO2022073784 A1 WO 2022073784A1 EP 2021076484 W EP2021076484 W EP 2021076484W WO 2022073784 A1 WO2022073784 A1 WO 2022073784A1
Authority
WO
WIPO (PCT)
Prior art keywords
recording
intracorporeal
extracorporeal
display
surgical
Prior art date
Application number
PCT/EP2021/076484
Other languages
German (de)
English (en)
Inventor
Amir Sarvestani
Original Assignee
B. Braun New Ventures GmbH
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 B. Braun New Ventures GmbH filed Critical B. Braun New Ventures GmbH
Publication of WO2022073784A1 publication Critical patent/WO2022073784A1/fr

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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
    • 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
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
    • 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
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00043—Operational features of endoscopes provided with output arrangements
    • A61B1/00045—Display arrangement
    • A61B1/0005—Display arrangement combining images e.g. side-by-side, superimposed or tiled
    • 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
    • A61B1/313—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 for introducing through surgical openings, e.g. laparoscopes
    • A61B1/3132—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 for introducing through surgical openings, e.g. laparoscopes for laparoscopy
    • 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
    • A61B1/00163—Optical arrangements
    • A61B1/00193—Optical arrangements adapted for stereoscopic vision
    • 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
    • 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
    • A61B2090/308—Lamp handles
    • 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
    • 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
    • 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
    • A61B2090/373—Surgical systems with images on a monitor during operation using light, e.g. by using optical scanners
    • 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
    • A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
    • 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
    • A61B90/20—Surgical microscopes characterised by non-optical aspects

Definitions

  • the intracorporeal recording is displayed in the correct position in the extracorporeal recording, as would be seen by the detection device or, for example, the camera of the detection device.
  • the intracorporeal recording in particular an intracorporeal image, is displayed in the extracorporeal recording at its actual, current position in 3-dimensional space, as seen by the detection device, in particular the camera.
  • the surgical assistance system can have an interface in order to communicate with at least one other medical device communicate.
  • Anatomical data of the patient can preferably be stored in the memory unit or anatomical data, for example from a previous X-ray exposure, can be provided via the interface and included in the overlay display. In this way, the two recordings can also be linked to the patient's anatomical data.
  • FIG. 3 shows a detailed view of the output via an OP monitor of FIG. 1 ,
  • the recording head 4 has an endoscope video camera (not shown here), which uses a CMOS sensor to take a two-dimensional intracorporeal recording IA of the body interior of the patient P in the direction of a longitudinal axis of the endoscope 2 as an up-to-date (live video) Recording created and made available digitally.
  • the handpiece 3 for manual gripping and handling by a surgeon (only the surgeon's hand is shown in FIG. 1), on the other hand, protrudes outside the body of the patient P and is visible from the outside, even for those involved in the operation.
  • the control unit 8 Based on the (information on) the position of the recording head 4 and thus the intracorporeal recording IA, the control unit 8 then generates the overlay display U, in which the intracorporeal recording IA of the endoscope is displayed in the correct position in the extracorporeal recording EA. This Finally, an overlay display is displayed by an operating room monitor 7, which the surgeon can easily see.
  • the present surgical assistance system 1 shows the surgeon the image from the inside of the patient in the correct position in the image of the external anatomy of the patient in a single image or a single image, so that the surgeon can grasp it easily and intuitively where and with what orientation the displayed inner tissue is in the body.
  • the assistance system 1 provides a type of viewing function or digital magnifying glass function through a surface of the body, the actual intracorporeal recording IA being used as the image of the magnifying glass. This provides all those involved in the operation with an overview of what is happening in the operation that has not been achieved up to now. In particular, navigation of the endoscope 2 is simplified and demands on the surgeon for additional intellectual effort are minimized, since the surgeon can navigate imaging devices intuitively.
  • a distance to a tissue can also be recorded and included in the calculation accordingly.
  • a fixed distance value can also be established and taken into account as a coordinate transformation.
  • the 3D structure of the intracorporeal recording can also be recorded and processed and taken into account when generating the overlay display.
  • the intracorporeal exposure IA Due to the rotation and compression, the intracorporeal exposure IA is displayed with the correct orientation. Consequently, the intracorporeal exposure IA is shown in the correct position and orientation and thus in the correct position in the extracorporeal exposure EA.
  • the non-visible endoscope shaft is superimposed virtually in the overlay representation U, so that the surgeon is provided with an even better overview.
  • the control unit 8 can be adapted to also connect the three intracorporeal images IA to one another and to overlay information. An opacity can also be reduced or a transparency of the intracorporeal recording can be increased in order not to lose any information.
  • the assistance system is designed as a mobile assistance system 1 so that it can be positioned at different locations and in the vicinity of different operating tables as required.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Pathology (AREA)
  • Public Health (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Biophysics (AREA)
  • Physics & Mathematics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Optics & Photonics (AREA)
  • Signal Processing (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Endoscopes (AREA)

Abstract

L'invention concerne un système d'assistance (1) chirurgical s'utilisant dans le cadre d'une intervention chirurgicale qui comporte : au moins un dispositif d'imagerie (2 ; 16 ; 17) médical doté d'une tête d'enregistrement (4) et d'une partie d'actionnement (3 ; 18, 19), située en particulier à distance, qui est conçue et adaptée pour effectuer une prise de vues intracorporelle (IA) chez un patient (P), un dispositif d'enregistrement (5), doté de préférence d'au moins une caméra (6), qui est conçu et adapté pour détecter au moins par voie optique une région d'intervention chirurgicale du patient (P) conjointement avec la partie d'actionnement (3 ; 18 ; 19) du dispositif d'imagerie (2 ; 16 ; 17) et pour effectuer des prises de vues extracorporelles (EA), un dispositif de visualisation, en particulier un moniteur de tableau de commande (7), destiné à représenter un continu visuel, le système d'assistance (1) chirurgical comportant en outre une unité de commande (8), laquelle est adaptée pour traiter les prises de vues extracorporelles (EA) du dispositif d'enregistrement (5) et les prises de vues intracorporelles (IA) du dispositif d'imagerie (2 ; 16 ; 17), pour déterminer une position de la tête d'enregistrement (4), en association avec une relation définie à la tête d'enregistrement (4), par la partie d'actionnement détectée (3 : 18 ; 19), pour induire une représentation par superposition (U) des prises de vues intracorporelle (IA) dans ou sur les prises de vues extracorporelles (EA), au cours de laquelle sur la base de la position de la tête d'enregistrement (4), la prise de vues intracorporelle (IA) est représentée dans la prise de vues extracorporelle (EA) de manière correcte en termes de positionnement et d'orientation et par conséquent en termes de position, et pour sortir visuellement la représentation par superposition (U) par le biais du dispositif de visualisation. L'invention concerne en outre un procédé de visualisation de prise de vues, un support d'enregistrement pouvant être lu électroniquement, ainsi qu'un espace stérile (100) muni d'un système d'assistance (1) selon les revendications secondaires.
PCT/EP2021/076484 2020-10-05 2021-09-27 Système d'assistance chirurgical et procédé de visualisation WO2022073784A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102020126029.6 2020-10-05
DE102020126029.6A DE102020126029A1 (de) 2020-10-05 2020-10-05 Chirurgisches Assistenzsystem und Darstellungsverfahren

Publications (1)

Publication Number Publication Date
WO2022073784A1 true WO2022073784A1 (fr) 2022-04-14

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Application Number Title Priority Date Filing Date
PCT/EP2021/076484 WO2022073784A1 (fr) 2020-10-05 2021-09-27 Système d'assistance chirurgical et procédé de visualisation

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DE (1) DE102020126029A1 (fr)
WO (1) WO2022073784A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102023105920A1 (de) 2023-03-09 2024-09-12 B. Braun New Ventures GmbH Chirurgisches Digitales Wiedergabe- und Assistenzsystem und Synchronisiertes Aufzeichnungsverfahren

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140275760A1 (en) * 2013-03-13 2014-09-18 Samsung Electronics Co., Ltd. Augmented reality image display system and surgical robot system comprising the same
US20180357825A1 (en) * 2017-06-09 2018-12-13 Siemens Healthcare Gmbh Output of position information of a medical instrument
US20200159313A1 (en) * 2018-11-17 2020-05-21 Novarad Corporation Using Optical Codes with Augmented Reality Displays
US20200197107A1 (en) * 2016-08-16 2020-06-25 Insight Medical Systems, Inc. Systems and methods for sensory augmentation in medical procedures

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009037316A1 (de) 2009-08-14 2011-02-17 Karl Storz Gmbh & Co. Kg Steuerung und Verfahren zum Betreiben einer Operationsleuchte
CA2929702C (fr) 2013-03-15 2023-03-07 Synaptive Medical (Barbados) Inc. Systemes et procedes de navigation et de simulation de therapie mini-invasive
DE102015212352A1 (de) 2015-07-01 2017-01-05 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Verfahren, Anordnung und Computerprogrammprodukt zur Lageerfassung eines zu untersuchenden Objekts

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140275760A1 (en) * 2013-03-13 2014-09-18 Samsung Electronics Co., Ltd. Augmented reality image display system and surgical robot system comprising the same
US20200197107A1 (en) * 2016-08-16 2020-06-25 Insight Medical Systems, Inc. Systems and methods for sensory augmentation in medical procedures
US20180357825A1 (en) * 2017-06-09 2018-12-13 Siemens Healthcare Gmbh Output of position information of a medical instrument
US20200159313A1 (en) * 2018-11-17 2020-05-21 Novarad Corporation Using Optical Codes with Augmented Reality Displays

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DE102020126029A1 (de) 2022-04-07

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