WO2006131373A2 - Vorrichtung zum berührungslosen ermitteln und vermessen einer raumposition und/oder einer raumorientierung von körpern - Google Patents
Vorrichtung zum berührungslosen ermitteln und vermessen einer raumposition und/oder einer raumorientierung von körpern Download PDFInfo
- Publication number
- WO2006131373A2 WO2006131373A2 PCT/EP2006/005498 EP2006005498W WO2006131373A2 WO 2006131373 A2 WO2006131373 A2 WO 2006131373A2 EP 2006005498 W EP2006005498 W EP 2006005498W WO 2006131373 A2 WO2006131373 A2 WO 2006131373A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- tracking system
- patterns
- mobile tracking
- medical
- bodies
- Prior art date
Links
Classifications
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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
-
- 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
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C1/00—Dental machines for boring or cutting ; General features of dental machines or apparatus, e.g. hand-piece design
- A61C1/08—Machine parts specially adapted for dentistry
- A61C1/082—Positioning or guiding, e.g. of drills
-
- 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
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
-
- 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
- A61B2034/2051—Electromagnetic tracking systems
-
- 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
- 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
- A61B2034/2057—Details of tracking cameras
-
- 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
- A61B90/08—Accessories or related features not otherwise provided for
- A61B2090/0818—Redundant systems, e.g. using two independent measuring systems and comparing the signals
-
- 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
- A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
-
- 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
Abstract
Description
Claims
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP06754233A EP1919389A2 (de) | 2005-06-09 | 2006-06-08 | Vorrichtung zum berührungslosen ermitteln und vermessen einer raumposition und/oder einer raumorientierung von körpern |
JP2008515141A JP5741885B2 (ja) | 2005-06-09 | 2006-06-08 | 物体の空間位置そして/または空間方位の非接触決定及び測定用システムと方法、特に医療器具に関するパターン又は構造体を含む特に医療器具の較正及び試験方法 |
DE112006001514T DE112006001514A5 (de) | 2005-06-09 | 2006-06-08 | Vorrichtung und Verfahren zum berührungslosen Ermitteln und Vermessen einer Raumposition und/oder einer Raumorientierung von Körpern, Verfahren zum Kalibrieren und zum Prüfen von insbesondere medizinischen Werkzeugen sowie Muster auf oder Strukturen an insbesondere medizinischen Werkzeugen |
CN2006800295660A CN101267776B (zh) | 2005-06-09 | 2006-06-08 | 用于主体空间位置和/或空间定向的无接触地确定和测量的装置 |
CA2611404A CA2611404C (en) | 2005-06-09 | 2006-06-08 | Device and method for the contactless determination of spatial position/orientation of bodies |
US11/921,779 US8320612B2 (en) | 2005-06-09 | 2006-06-08 | System and method for the contactless determination and measurement of a spatial position and/or a spatial orientation of bodies, method for the calibration and testing, in particular, medical tools as well as patterns or structures on, in particular, medical tools |
KR1020087000563A KR101270912B1 (ko) | 2005-06-09 | 2006-06-08 | 물체의 공간적 위치 및 방향의 비접촉식 결정 및 측정 장치및 방법과, 의료용 툴을 교정 및 확인하기 위한 방법,그리고 의료용 툴 상의 패턴이나 구조물 |
Applications Claiming Priority (8)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102005026654A DE102005026654A1 (de) | 2005-06-09 | 2005-06-09 | Vorrichtung und Verfahren zur berührungslosen Vermessung der Geometrie, Raumposition und Raumorientierung von Körpern |
DE102005026654.1 | 2005-06-09 | ||
DE102005056897 | 2005-11-28 | ||
DE102005056897.1 | 2005-11-28 | ||
DE102005057237 | 2005-11-29 | ||
DE102005057237.5 | 2005-11-29 | ||
DE102005062384 | 2005-12-23 | ||
DE102005062384.0 | 2005-12-23 |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2006131373A2 true WO2006131373A2 (de) | 2006-12-14 |
WO2006131373A3 WO2006131373A3 (de) | 2007-05-24 |
Family
ID=37027835
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2006/005498 WO2006131373A2 (de) | 2005-06-09 | 2006-06-08 | Vorrichtung zum berührungslosen ermitteln und vermessen einer raumposition und/oder einer raumorientierung von körpern |
Country Status (7)
Country | Link |
---|---|
US (1) | US8320612B2 (de) |
EP (2) | EP1919389A2 (de) |
JP (1) | JP5741885B2 (de) |
KR (1) | KR101270912B1 (de) |
CA (1) | CA2611404C (de) |
DE (1) | DE112006001514A5 (de) |
WO (1) | WO2006131373A2 (de) |
Cited By (20)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2010020397A1 (de) * | 2008-08-18 | 2010-02-25 | Naviswiss Ag | Medizinisches messsystem, verfahren zum chirurgischen eingriff sowie die verwendung eines medizinischen messsystems |
WO2010078009A1 (en) * | 2008-12-31 | 2010-07-08 | Intuitive Surgical, Inc. | Fiducial marker design and detection for locating surgical instrument in images |
DE102010010192A1 (de) * | 2010-03-04 | 2011-09-08 | Siemens Aktiengesellschaft | Medizinische Untersuchungs- und/oder Behandlungsvorrichtung |
US8184880B2 (en) | 2008-12-31 | 2012-05-22 | Intuitive Surgical Operations, Inc. | Robust sparse image matching for robotic surgery |
DE102011086720A1 (de) * | 2011-11-21 | 2013-05-23 | Siemens Aktiengesellschaft | Vorrichtung zur chirurgischen Bearbeitung einer anatomischen Struktur |
DE102012220116A1 (de) | 2012-06-29 | 2014-01-02 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Mobil handhabbare Vorrichtung, insbesondere zur Bearbeitung oder Beobachtung eines Körpers, und Verfahren zur Handhabung, insbesondere Kalibrierung, einer Vorrichtung |
WO2014068106A1 (de) | 2012-11-05 | 2014-05-08 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Bildgebendes system, operationsvorrichtung mit dem bildgebenden system und verfahren zur bildgebung |
US8792963B2 (en) | 2007-09-30 | 2014-07-29 | Intuitive Surgical Operations, Inc. | Methods of determining tissue distances using both kinematic robotic tool position information and image-derived position information |
US8830224B2 (en) | 2008-12-31 | 2014-09-09 | Intuitive Surgical Operations, Inc. | Efficient 3-D telestration for local robotic proctoring |
WO2015022014A1 (en) * | 2013-08-13 | 2015-02-19 | Brainlab Ag | Malleolar referencing device |
US8971597B2 (en) | 2005-05-16 | 2015-03-03 | Intuitive Surgical Operations, Inc. | Efficient vision and kinematic data fusion for robotic surgical instruments and other applications |
WO2015048994A1 (en) * | 2013-10-02 | 2015-04-09 | Mininavident Ag | Navigation system and method for dental and cranio-maxillofacial surgery, positioning tool and method of positioning a marker member |
US9155592B2 (en) | 2009-06-16 | 2015-10-13 | Intuitive Surgical Operations, Inc. | Virtual measurement tool for minimally invasive surgery |
US9492240B2 (en) | 2009-06-16 | 2016-11-15 | Intuitive Surgical Operations, Inc. | Virtual measurement tool for minimally invasive surgery |
US9867669B2 (en) | 2008-12-31 | 2018-01-16 | Intuitive Surgical Operations, Inc. | Configuration marker design and detection for instrument tracking |
US9974615B2 (en) | 2011-09-28 | 2018-05-22 | Brainlab Ag | Determining a position of a medical device to be localized |
US10350089B2 (en) | 2013-08-13 | 2019-07-16 | Brainlab Ag | Digital tool and method for planning knee replacement |
US10555775B2 (en) | 2005-05-16 | 2020-02-11 | Intuitive Surgical Operations, Inc. | Methods and system for performing 3-D tool tracking by fusion of sensor and/or camera derived data during minimally invasive robotic surgery |
US11246719B2 (en) | 2013-08-13 | 2022-02-15 | Brainlab Ag | Medical registration apparatus and method for registering an axis |
US11284964B2 (en) | 2013-08-13 | 2022-03-29 | Brainlab Ag | Moiré marker device for medical navigation |
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EP1857070A1 (de) * | 2006-05-18 | 2007-11-21 | BrainLAB AG | Kontaktfreie medizintechnische Registrierung mit Distanzmessung |
US8560047B2 (en) | 2006-06-16 | 2013-10-15 | Board Of Regents Of The University Of Nebraska | Method and apparatus for computer aided surgery |
CA2700478A1 (en) * | 2008-03-13 | 2009-09-17 | Orthosoft Inc. | Tracking cas system |
US8340777B2 (en) | 2008-09-15 | 2012-12-25 | The Invention Science Fund I, Llc | Systems configured to transmit optical power signals transdermally out of a living subject, and devices and methods |
US8295941B2 (en) | 2008-09-15 | 2012-10-23 | The Invention Science Fund I, Llc | Systems configured to power at least one device disposed in a living subject, and related apparatuses and methods |
US8280520B2 (en) * | 2008-09-15 | 2012-10-02 | The Invention Science Fund I, Llc | Systems configured to locate a photonic device disposed in a living subject, and related apparatuses and methods |
EP2218423B1 (de) * | 2009-02-12 | 2012-05-02 | Straumann Holding AG | Bestimmen der Position und der Ausrichtung eines Zahnimplantats |
US8988505B2 (en) * | 2009-10-20 | 2015-03-24 | Imris Inc | Imaging system using markers |
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US9921712B2 (en) | 2010-12-29 | 2018-03-20 | Mako Surgical Corp. | System and method for providing substantially stable control of a surgical tool |
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US9498231B2 (en) * | 2011-06-27 | 2016-11-22 | Board Of Regents Of The University Of Nebraska | On-board tool tracking system and methods of computer assisted surgery |
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US11911117B2 (en) | 2011-06-27 | 2024-02-27 | Board Of Regents Of The University Of Nebraska | On-board tool tracking system and methods of computer assisted surgery |
JP2013153998A (ja) * | 2012-01-31 | 2013-08-15 | Univ Of Tokyo | 超音波治療システム |
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JP2015519108A (ja) * | 2012-05-02 | 2015-07-09 | 医百科技股▲ふん▼有限公司 | 口腔内手術中の補助ガイド方法 |
US9226796B2 (en) | 2012-08-03 | 2016-01-05 | Stryker Corporation | Method for detecting a disturbance as an energy applicator of a surgical instrument traverses a cutting path |
KR102397265B1 (ko) | 2012-08-03 | 2022-05-12 | 스트리커 코포레이션 | 로봇 수술을 위한 시스템 및 방법 |
US9820818B2 (en) * | 2012-08-03 | 2017-11-21 | Stryker Corporation | System and method for controlling a surgical manipulator based on implant parameters |
US9086271B2 (en) | 2012-11-09 | 2015-07-21 | Recognition Robotics, Inc. | Industrial robot system having sensor assembly |
US9192445B2 (en) * | 2012-12-13 | 2015-11-24 | Mako Surgical Corp. | Registration and navigation using a three-dimensional tracking sensor |
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JP2016512973A (ja) * | 2013-02-11 | 2016-05-12 | ネオメドツ エスアーエールエル | 身体に対して対象を追跡するための追跡装置 |
EP2767232A1 (de) | 2013-02-15 | 2014-08-20 | Koninklijke Philips N.V. | System und Verfahren zur Bestimmung eines Lebenszeichens eines Patienten |
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US10105149B2 (en) | 2013-03-15 | 2018-10-23 | Board Of Regents Of The University Of Nebraska | On-board tool tracking system and methods of computer assisted surgery |
US10372397B2 (en) | 2013-03-15 | 2019-08-06 | Infocus Corporation | Multimedia output and display device selection |
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DE102013209158A1 (de) | 2013-05-16 | 2014-11-20 | Fiagon Gmbh | Verfahren zum Einbinden mittels eines bildgebenden Verfahrens gewonnener Daten |
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DE102017122143A1 (de) | 2017-09-25 | 2019-03-28 | Aesculap Ag | Medizintechnische Verformungseinrichtung, Verformungssystem und Verfahren zum Verformen eines Artikels |
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US11114199B2 (en) | 2018-01-25 | 2021-09-07 | Mako Surgical Corp. | Workflow systems and methods for enhancing collaboration between participants in a surgical procedure |
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US11291507B2 (en) | 2018-07-16 | 2022-04-05 | Mako Surgical Corp. | System and method for image based registration and calibration |
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US20090068620A1 (en) | 2009-03-12 |
CA2611404A1 (en) | 2006-12-14 |
EP1919389A2 (de) | 2008-05-14 |
US8320612B2 (en) | 2012-11-27 |
JP5741885B2 (ja) | 2015-07-01 |
EP2377484B1 (de) | 2015-08-19 |
WO2006131373A3 (de) | 2007-05-24 |
KR20080042794A (ko) | 2008-05-15 |
EP2377484A1 (de) | 2011-10-19 |
KR101270912B1 (ko) | 2013-06-03 |
JP2008541966A (ja) | 2008-11-27 |
CA2611404C (en) | 2016-01-12 |
DE112006001514A5 (de) | 2008-06-05 |
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