WO2002024094A3 - Non-ivasive system and device for locating a surface of an object in a body - Google Patents

Non-ivasive system and device for locating a surface of an object in a body Download PDF

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Publication number
WO2002024094A3
WO2002024094A3 PCT/IL2001/000893 IL0100893W WO0224094A3 WO 2002024094 A3 WO2002024094 A3 WO 2002024094A3 IL 0100893 W IL0100893 W IL 0100893W WO 0224094 A3 WO0224094 A3 WO 0224094A3
Authority
WO
WIPO (PCT)
Prior art keywords
energy transducer
tracker
orientation
linear distance
relative
Prior art date
Application number
PCT/IL2001/000893
Other languages
French (fr)
Other versions
WO2002024094A2 (en
Inventor
Roni Yagel
Original Assignee
Insightec Image Guided Treat
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 Insightec Image Guided Treat filed Critical Insightec Image Guided Treat
Priority to AU2001294157A priority Critical patent/AU2001294157A1/en
Publication of WO2002024094A2 publication Critical patent/WO2002024094A2/en
Publication of WO2002024094A3 publication Critical patent/WO2002024094A3/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • 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
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4245—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the 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
    • A61B90/06—Measuring instruments 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
    • 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
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/061—Measuring instruments not otherwise provided for for measuring dimensions, e.g. length
    • 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
    • A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
    • A61B2560/04—Constructional details of apparatus
    • A61B2560/0406—Constructional details of apparatus specially shaped apparatus housings
    • A61B2560/0418—Pen-shaped housings
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
    • A61B5/4504—Bones
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
    • A61B8/0875—Detecting organic movements or changes, e.g. tumours, cysts, swellings for diagnosis of bone
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/58—Testing, adjusting or calibrating the diagnostic device

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Robotics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Dentistry (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

A system for non-invasively determining the location of a surface of an object, such as a bone, in a body. The system comprises a device, such as a hand-held surgical instrument, carrying an energy transducer for determining linear distance vectors between the energy transducer and a surface of the object. The device further carries a tracker in a known position and orientation relative to the energy transducer. The tracker is adapted to determine a relative position and orientation of the energy transducer in a reference coordinate system. A processor coupled to the energy transducer and tracker is adapted to determine the relative locations in the reference coordinate system of surface points on the object based on linear distance vectors provided by the energy transducer and the relative position and orientation of the energy transducer provided by the tracker for each linear distance vector.
PCT/IL2001/000893 2000-09-25 2001-09-24 Non-ivasive system and device for locating a surface of an object in a body WO2002024094A2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU2001294157A AU2001294157A1 (en) 2000-09-25 2001-09-24 Non-ivasive system and device for locating a surface of an object in a body

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US66948200A 2000-09-25 2000-09-25
US09/669,482 2000-09-25

Publications (2)

Publication Number Publication Date
WO2002024094A2 WO2002024094A2 (en) 2002-03-28
WO2002024094A3 true WO2002024094A3 (en) 2002-10-31

Family

ID=24686478

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IL2001/000893 WO2002024094A2 (en) 2000-09-25 2001-09-24 Non-ivasive system and device for locating a surface of an object in a body

Country Status (2)

Country Link
AU (1) AU2001294157A1 (en)
WO (1) WO2002024094A2 (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8979871B2 (en) 2009-08-13 2015-03-17 Monteris Medical Corporation Image-guided therapy of a tissue
US9333038B2 (en) 2000-06-15 2016-05-10 Monteris Medical Corporation Hyperthermia treatment and probe therefore
US9433383B2 (en) 2014-03-18 2016-09-06 Monteris Medical Corporation Image-guided therapy of a tissue
US9504484B2 (en) 2014-03-18 2016-11-29 Monteris Medical Corporation Image-guided therapy of a tissue

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008009136A1 (en) 2006-07-21 2008-01-24 Orthosoft Inc. Non-invasive tracking of bones for surgery
WO2008130355A1 (en) * 2007-04-24 2008-10-30 Medtronic, Inc. Method for performing multiple registrations in a navigated procedure
US9289270B2 (en) 2007-04-24 2016-03-22 Medtronic, Inc. Method and apparatus for performing a navigated procedure
JP6219835B2 (en) 2011-10-28 2017-10-25 ディスィジョン サイエンシズ インターナショナル コーポレーション Spread spectrum coded waveforms in ultrasound imaging
WO2013134782A1 (en) 2012-03-09 2013-09-12 The Johns Hopkins University Photoacoustic tracking and registration in interventional ultrasound
JP6487336B2 (en) * 2012-12-31 2019-03-20 マコ サージカル コーポレーション System and method for alignment using an ultrasound probe
US9854991B2 (en) 2013-03-15 2018-01-02 Medtronic Navigation, Inc. Integrated navigation array
US9844359B2 (en) 2013-09-13 2017-12-19 Decision Sciences Medical Company, LLC Coherent spread-spectrum coded waveforms in synthetic aperture image formation
US10675113B2 (en) 2014-03-18 2020-06-09 Monteris Medical Corporation Automated therapy of a three-dimensional tissue region
US10806346B2 (en) 2015-02-09 2020-10-20 The Johns Hopkins University Photoacoustic tracking and registration in interventional ultrasound
KR20230169485A (en) 2015-02-25 2023-12-15 디시전 사이선씨즈 메디컬 컴패니, 엘엘씨 Acoustic signal transmission couplants and coupling mediums
US10327830B2 (en) 2015-04-01 2019-06-25 Monteris Medical Corporation Cryotherapy, thermal therapy, temperature modulation therapy, and probe apparatus therefor
JP6755308B2 (en) 2015-10-08 2020-09-16 ディスィジョン サイエンシズ メディカル カンパニー，エルエルシー Acoustic orthopedic tracking system and method
US11446090B2 (en) 2017-04-07 2022-09-20 Orthosoft Ulc Non-invasive system and method for tracking bones
CA3053904A1 (en) 2018-08-31 2020-02-29 Orthosoft Inc. System and method for tracking bones
US11154274B2 (en) 2019-04-23 2021-10-26 Decision Sciences Medical Company, LLC Semi-rigid acoustic coupling articles for ultrasound diagnostic and treatment applications
CN116685847A (en) 2020-11-13 2023-09-01 决策科学医疗有限责任公司 System and method for synthetic aperture ultrasound imaging of objects

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4896673A (en) * 1988-07-15 1990-01-30 Medstone International, Inc. Method and apparatus for stone localization using ultrasound imaging
US6106464A (en) * 1999-02-22 2000-08-22 Vanderbilt University Apparatus and method for bone surface-based registration of physical space with tomographic images and for guiding an instrument relative to anatomical sites in the image
WO2000054687A1 (en) * 1999-03-17 2000-09-21 Synthes Ag Chur Imaging and planning device for ligament graft placement
WO2000063719A1 (en) * 1999-04-20 2000-10-26 Synthes Ag Chur Device for the percutaneous obtainment of 3d-coordinates on the surface of a human or animal organ

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4896673A (en) * 1988-07-15 1990-01-30 Medstone International, Inc. Method and apparatus for stone localization using ultrasound imaging
US6106464A (en) * 1999-02-22 2000-08-22 Vanderbilt University Apparatus and method for bone surface-based registration of physical space with tomographic images and for guiding an instrument relative to anatomical sites in the image
WO2000054687A1 (en) * 1999-03-17 2000-09-21 Synthes Ag Chur Imaging and planning device for ligament graft placement
WO2000063719A1 (en) * 1999-04-20 2000-10-26 Synthes Ag Chur Device for the percutaneous obtainment of 3d-coordinates on the surface of a human or animal organ

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9333038B2 (en) 2000-06-15 2016-05-10 Monteris Medical Corporation Hyperthermia treatment and probe therefore
US9387042B2 (en) 2000-06-15 2016-07-12 Monteris Medical Corporation Hyperthermia treatment and probe therefor
US8979871B2 (en) 2009-08-13 2015-03-17 Monteris Medical Corporation Image-guided therapy of a tissue
US9211157B2 (en) 2009-08-13 2015-12-15 Monteris Medical Corporation Probe driver
US9271794B2 (en) 2009-08-13 2016-03-01 Monteris Medical Corporation Monitoring and noise masking of thermal therapy
US9510909B2 (en) 2009-08-13 2016-12-06 Monteris Medical Corporation Image-guide therapy of a tissue
US9433383B2 (en) 2014-03-18 2016-09-06 Monteris Medical Corporation Image-guided therapy of a tissue
US9486170B2 (en) 2014-03-18 2016-11-08 Monteris Medical Corporation Image-guided therapy of a tissue
US9492121B2 (en) 2014-03-18 2016-11-15 Monteris Medical Corporation Image-guided therapy of a tissue
US9504484B2 (en) 2014-03-18 2016-11-29 Monteris Medical Corporation Image-guided therapy of a tissue

Also Published As

Publication number Publication date
WO2002024094A2 (en) 2002-03-28
AU2001294157A1 (en) 2002-04-02

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