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WO2015136537A3 - System for real time tracking and modeling of surgical site - Google Patents

System for real time tracking and modeling of surgical site Download PDF

Info

Publication number
WO2015136537A3
WO2015136537A3 PCT/IL2015/050257 IL2015050257W WO2015136537A3 WO 2015136537 A3 WO2015136537 A3 WO 2015136537A3 IL 2015050257 W IL2015050257 W IL 2015050257W WO 2015136537 A3 WO2015136537 A3 WO 2015136537A3
Authority
WO
WIPO (PCT)
Prior art keywords
surgical site
real time
imaging sensor
tracking markers
fiducial reference
Prior art date
Application number
PCT/IL2015/050257
Other languages
French (fr)
Other versions
WO2015136537A2 (en
Inventor
Ehud DAON
Original Assignee
Navigate Surgical Technologies, Inc.
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 Navigate Surgical Technologies, Inc. filed Critical Navigate Surgical Technologies, Inc.
Priority to CA2940092A priority Critical patent/CA2940092C/en
Priority to JP2016574521A priority patent/JP2017512609A/en
Priority to KR1020167028089A priority patent/KR101731315B1/en
Priority to EP15747566.6A priority patent/EP3116434A2/en
Publication of WO2015136537A2 publication Critical patent/WO2015136537A2/en
Publication of WO2015136537A3 publication Critical patent/WO2015136537A3/en

Links

Classifications

    • 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
    • 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
    • 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
    • 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
    • A61B2034/2065—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
    • A61B90/36—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
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3966—Radiopaque markers visible in an X-ray image

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Molecular Biology (AREA)
  • Pathology (AREA)
  • Epidemiology (AREA)
  • Dentistry (AREA)
  • Robotics (AREA)
  • Image Processing (AREA)
  • Image Analysis (AREA)
  • Dental Tools And Instruments Or Auxiliary Dental Instruments (AREA)
  • Apparatus For Radiation Diagnosis (AREA)

Abstract

The present invention involves a surgical site monitoring system (1500, 1600) and associated method (900) of use employing vectorized 3D-tracking markers (504, 512, 572) attached to a single vectorized fiducial reference (502) and to a surgical site imaging sensor (510, 574). A tracker (508) obtains image information about both tracking markers and uses either the markings on or shapes of the tracking markers to determine from the image information the 3D locations and orientations of the imaging sensor and of the fiducial reference fixed to the surgical site (550). A scan taken of the surgical site prior to a surgical procedure with the fiducial reference attached allows live images of the surgery site to be sourced from the imaging sensor and to be overlaid in real time on a 3D model of the surgical site.
PCT/IL2015/050257 2014-03-13 2015-03-11 System and method for real time tracking and modeling of surgical site WO2015136537A2 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
CA2940092A CA2940092C (en) 2014-03-13 2015-03-11 System and method for real time tracking and modeling of surgical site
JP2016574521A JP2017512609A (en) 2014-03-13 2015-03-11 System and method for real-time tracking and modeling of a surgical site
KR1020167028089A KR101731315B1 (en) 2014-03-13 2015-03-11 System and method for real time tracking and modeling of surgical site
EP15747566.6A EP3116434A2 (en) 2014-03-13 2015-03-11 System for real time tracking and modeling of surgical site

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201461952832P 2014-03-13 2014-03-13
US61/952,832 2014-03-13

Publications (2)

Publication Number Publication Date
WO2015136537A2 WO2015136537A2 (en) 2015-09-17
WO2015136537A3 true WO2015136537A3 (en) 2015-12-17

Family

ID=53783794

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IL2015/050257 WO2015136537A2 (en) 2014-03-13 2015-03-11 System and method for real time tracking and modeling of surgical site

Country Status (5)

Country Link
EP (1) EP3116434A2 (en)
JP (1) JP2017512609A (en)
KR (1) KR101731315B1 (en)
CA (1) CA2940092C (en)
WO (1) WO2015136537A2 (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102026230B1 (en) * 2017-09-01 2019-09-27 고려대학교산학협력단 Method for guiding treatment device for head operation
KR102002222B1 (en) * 2017-09-29 2019-10-21 한양대학교 산학협력단 Computer-readable recording medium on which a computer program for image processing is recorded
KR102658988B1 (en) * 2021-04-29 2024-04-22 주식회사 삼육오엠씨(365mc) 3D body Scanning Device For Liposuction
WO2022251814A2 (en) 2021-05-24 2022-12-01 Stryker Corporation Systems and methods for generating three-dimensional measurements using endoscopic video data

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040263535A1 (en) * 2003-04-25 2004-12-30 Rainer Birkenbach Visualization device and method for combined patient and object image data
EP1795142A1 (en) * 2005-11-24 2007-06-13 BrainLAB AG Medical tracking system using a gamma camera
US20070253541A1 (en) * 2006-04-14 2007-11-01 Predrag Sukovic Surgical navigation system including patient tracker with removable registration appendage
WO2008008044A2 (en) * 2006-07-14 2008-01-17 Bracco Imaging S.P.A. Methods and apparatuses for registration in image guided surgery
EP2153794A2 (en) * 2008-08-15 2010-02-17 Stryker Leibinger GmbH & Co. KG System for and method of visualizing an interior of a body
US20130108979A1 (en) * 2011-10-28 2013-05-02 Navident Technologies, Inc. Surgical location monitoring system and method

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4382924B2 (en) * 1999-09-22 2009-12-16 オリンパス株式会社 Surgery support system
JP2005046200A (en) * 2003-07-29 2005-02-24 Olympus Corp Endoscopic operation system
US7764985B2 (en) * 2003-10-20 2010-07-27 Smith & Nephew, Inc. Surgical navigation system component fault interfaces and related processes
US20070236514A1 (en) * 2006-03-29 2007-10-11 Bracco Imaging Spa Methods and Apparatuses for Stereoscopic Image Guided Surgical Navigation
US20080183068A1 (en) 2007-01-25 2008-07-31 Warsaw Orthopedic, Inc. Integrated Visualization of Surgical Navigational and Neural Monitoring Information
WO2012068679A1 (en) 2010-11-23 2012-05-31 Claron Technology Inc. Method and apparatus for automated registration and pose tracking
KR20140088167A (en) 2011-10-28 2014-07-09 내비게이트 써지컬 테크놀로지, 인크. Surgical location monitoring system and method
JP2014132980A (en) * 2013-01-10 2014-07-24 Advanced Healthcare Kk Trocar and surgery support system
US9675419B2 (en) 2013-08-21 2017-06-13 Brachium, Inc. System and method for automating medical procedures

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040263535A1 (en) * 2003-04-25 2004-12-30 Rainer Birkenbach Visualization device and method for combined patient and object image data
EP1795142A1 (en) * 2005-11-24 2007-06-13 BrainLAB AG Medical tracking system using a gamma camera
US20070253541A1 (en) * 2006-04-14 2007-11-01 Predrag Sukovic Surgical navigation system including patient tracker with removable registration appendage
WO2008008044A2 (en) * 2006-07-14 2008-01-17 Bracco Imaging S.P.A. Methods and apparatuses for registration in image guided surgery
EP2153794A2 (en) * 2008-08-15 2010-02-17 Stryker Leibinger GmbH & Co. KG System for and method of visualizing an interior of a body
US20130108979A1 (en) * 2011-10-28 2013-05-02 Navident Technologies, Inc. Surgical location monitoring system and method

Also Published As

Publication number Publication date
KR101731315B1 (en) 2017-05-11
CA2940092C (en) 2017-09-26
JP2017512609A (en) 2017-05-25
WO2015136537A2 (en) 2015-09-17
CA2940092A1 (en) 2015-09-17
EP3116434A2 (en) 2017-01-18
KR20160132931A (en) 2016-11-21

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