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WO2008062485A1 - Dispositif permettant la détection de corps allongés - Google Patents

Dispositif permettant la détection de corps allongés Download PDF

Info

Publication number
WO2008062485A1
WO2008062485A1 PCT/IT2006/000816 IT2006000816W WO2008062485A1 WO 2008062485 A1 WO2008062485 A1 WO 2008062485A1 IT 2006000816 W IT2006000816 W IT 2006000816W WO 2008062485 A1 WO2008062485 A1 WO 2008062485A1
Authority
WO
WIPO (PCT)
Prior art keywords
videocamera
angle
robot
elongated bodies
calibration
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/IT2006/000816
Other languages
English (en)
Inventor
Werner Rainer
Paolo Giribona
Daniele Baldassari
Alferino Gabbarrini
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Health Robotics SRL
Original Assignee
Health Robotics SRL
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 Health Robotics SRL filed Critical Health Robotics SRL
Priority to PCT/IT2006/000816 priority Critical patent/WO2008062485A1/fr
Priority to PCT/IB2007/003577 priority patent/WO2008062285A2/fr
Priority to AU2007323131A priority patent/AU2007323131A1/en
Priority to CN2007800434719A priority patent/CN101568307B/zh
Priority to RU2009123302/14A priority patent/RU2009123302A/ru
Priority to EP07848922A priority patent/EP2094174B1/fr
Priority to AT07848922T priority patent/ATE468076T1/de
Priority to CA2669926A priority patent/CA2669926C/fr
Priority to JP2009537711A priority patent/JP5171839B2/ja
Priority to DE602007006687T priority patent/DE602007006687D1/de
Priority to KR1020097011817A priority patent/KR20090093979A/ko
Priority to US12/516,149 priority patent/US8404492B2/en
Publication of WO2008062485A1 publication Critical patent/WO2008062485A1/fr
Anticipated expiration legal-status Critical
Priority to NO20092008A priority patent/NO20092008L/no
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0012—Biomedical image inspection
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • 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
    • A61B2090/371—Surgical systems with images on a monitor during operation with simultaneous use of two cameras
    • 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
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/178—Syringes
    • A61M5/20—Automatic syringes, e.g. with automatically actuated piston rod, with automatic needle injection, filling automatically
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/178—Syringes
    • A61M5/31—Details
    • A61M5/32—Needles; Details of needles pertaining to their connection with syringe or hub; Accessories for bringing the needle into, or holding the needle on, the body; Devices for protection of needles
    • A61M5/3287—Accessories for bringing the needle into the body; Automatic needle insertion
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30004—Biomedical image processing

Definitions

  • This invention relates to a device for detecting elongated bodies, particularly for detecting needles of syringes.
  • the exact position of the tip of a syringe needle is a main problem in apparatus employing syringes for dosing substances. This .is particularly true for automatic apparatus. Indeed, the needle uses to curve, displacing its tip from its original, vertical position. This can be due to errors in the production, but also to modifications in the shape, taking place subsequently for mechanical and/or thermal shocks.
  • Fig. 1 is a side view, illustrating an embodiment of this invention,-
  • Fig. 2 is a plan view, diagrammaticalIy illustrating a particular of the first embodiment of this invention
  • Fig. 3 is a schematic view, showing an alternative embodiment of this invention
  • ' Fig. 4 is a flow sheet showing a calibration process according to this invention.
  • Fig. 5 is a flow sheet showing an algorhythm on which the detection is possible.
  • this invention is comprised of a cartesian robot 1, possessing six degrees of ' freedom. On one end, the robot 1 bears, in articulated manner, a videocamera 2, having its lens 3, to be positioned in front of the needle 4 to be detected.
  • the calibration pattern 5 is shown in Fig. 2.
  • a cartesian robot 6 possessing three degrees of freedom.
  • the robot 6 comprises a case 7, displaceable along a rod 8.
  • Two videocameras 9, 10 are positioned at one end of the case 7.
  • the videocameras 9, 10 preferably exhibit an angle.
  • the angle ranges from 20 to 60°, more preferably it ranges from 30 to 50°, most preferably it is 40°.
  • a calibration is carried out.
  • the calibration takes place according to what shown in Fig. 2.
  • the calibration is performed in two steps: a three-D calibration and a two-D calibration.
  • a pattern 5 is scanned with the videocamera at different, known distances.
  • the pattern 5 is a table comprising a number of circles having size and position known.
  • the videocamera takes the picture and inputs the datum into a computer which, correlating it to the corresponding distance and to the exact position of the robot 1 or 6, draws the calibration curve (usually a straight line) .
  • a two-D calibration is performed each three-D calibration.
  • the device is now ready for detecting the position of the needle 4.
  • the robot 1 brings the videocamera 2 in front of the needle 4 and acquires the image.
  • the true position of the needle is calculated by correlating the image with the calibration curve.
  • the videocamera is firstly displaced on a position relative to the needle 4, then to the opposite position and both images are correlated, after a gaussian filtering.
  • the filtering can take place on either a edge detection or an edge strength basis.
  • the robot 6 displaces both videocameras 9, 10, so as to take pictures from different positions.
  • the correlation step is similar than in the previous case, but the position of the needle 4 can be detected with only an acquisition step instead of two.
  • a flow sheet of the process is reported in Figs. 4 and 5.
  • the data acquisition can be performed through the technique of opticle triangles.
  • the device according to this invention allows to detect the position of any kind of needle or any other elongated body. It is very useful in a number of applications. For instance it can be used in automatic devices for preparing toxic substances, like cytotoxic drugs, or in a device for automatically injecting a drug into a patient.

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Physics & Mathematics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Animal Behavior & Ethology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Molecular Biology (AREA)
  • Quality & Reliability (AREA)
  • Radiology & Medical Imaging (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Geometry (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Manipulator (AREA)
  • Infusion, Injection, And Reservoir Apparatuses (AREA)

Abstract

La présente invention concerne un dispositif permettant la détection de corps allongés, contenant une caméra vidéo (2 ; 9,10). De préférence, la position est déterminée par comparaison d'une série de courbes de calibration.
PCT/IT2006/000816 2006-11-22 2006-11-22 Dispositif permettant la détection de corps allongés Ceased WO2008062485A1 (fr)

Priority Applications (13)

Application Number Priority Date Filing Date Title
PCT/IT2006/000816 WO2008062485A1 (fr) 2006-11-22 2006-11-22 Dispositif permettant la détection de corps allongés
CA2669926A CA2669926C (fr) 2006-11-22 2007-11-21 Procede et machine pour manipuler des substances toxiques
JP2009537711A JP5171839B2 (ja) 2006-11-22 2007-11-21 有害物質を操作するための方法、コンピュータプログラム、及び、有害物質を操作するための機械
CN2007800434719A CN101568307B (zh) 2006-11-22 2007-11-21 操纵有毒物质的方法和机器
RU2009123302/14A RU2009123302A (ru) 2006-11-22 2007-11-21 Способ и установка для манипуляций с токсичными веществами
EP07848922A EP2094174B1 (fr) 2006-11-22 2007-11-21 Procédé et machine pour manipuler des substances toxiques
AT07848922T ATE468076T1 (de) 2006-11-22 2007-11-21 Verfahren und maschine zur handhabung giftiger stoffe
PCT/IB2007/003577 WO2008062285A2 (fr) 2006-11-22 2007-11-21 Procédé et machine pour manipuler des substances toxiques
AU2007323131A AU2007323131A1 (en) 2006-11-22 2007-11-21 Method and machine for manipulating toxic substances
DE602007006687T DE602007006687D1 (de) 2006-11-22 2007-11-21 Verfahren und maschine zur handhabung giftiger stoffe
KR1020097011817A KR20090093979A (ko) 2006-11-22 2007-11-21 독성물질 조작방법 및 장치
US12/516,149 US8404492B2 (en) 2006-11-22 2007-11-21 Method and machine for manipulating toxic substances
NO20092008A NO20092008L (no) 2006-11-22 2009-05-25 Fremgangsmate og maskin for handtering av giftige stoffer

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/IT2006/000816 WO2008062485A1 (fr) 2006-11-22 2006-11-22 Dispositif permettant la détection de corps allongés

Publications (1)

Publication Number Publication Date
WO2008062485A1 true WO2008062485A1 (fr) 2008-05-29

Family

ID=37807852

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IT2006/000816 Ceased WO2008062485A1 (fr) 2006-11-22 2006-11-22 Dispositif permettant la détection de corps allongés

Country Status (2)

Country Link
CN (1) CN101568307B (fr)
WO (1) WO2008062485A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2289578A4 (fr) * 2008-06-16 2011-06-01 Nory Co Ltd Appareil de guidage d'aiguille de seringue
US9930297B2 (en) 2010-04-30 2018-03-27 Becton, Dickinson And Company System and method for acquiring images of medication preparations
US10679342B2 (en) 2014-09-08 2020-06-09 Becton, Dickinson And Company Aerodynamically streamlined enclosure for input devices of a medication preparation system

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103417375B (zh) * 2012-05-18 2016-08-03 辽宁九洲龙跃医用科技股份有限公司 一种机械自动静脉药物配制装置
WO2014065196A1 (fr) * 2012-10-25 2014-05-01 株式会社湯山製作所 Dispositif de co-perfusion
JP6128019B2 (ja) * 2014-03-05 2017-05-17 株式会社安川電機 液体移送システム、液体移送制御方法、液体移送制御装置、及び薬剤製造方法
DE102016007625A1 (de) * 2016-06-23 2018-01-18 Kiefel Gmbh Anlage zum herstellen eines medizinischen beutels sowie verfahren zum betreiben einer derartigen anlage
CN106491358B (zh) * 2016-10-31 2019-10-11 成都杰仕德科技有限公司 一种用于自动配药系统的定位装置和方法
CN106580696A (zh) * 2016-11-09 2017-04-26 无锡安之卓医疗机器人有限公司 针头视频定位系统及其工作方法
CN110108248A (zh) * 2018-02-01 2019-08-09 深圳市卫邦科技有限公司 一种钢针插入到位检测机构、配药机器人及检测方法

Citations (7)

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US5279309A (en) * 1991-06-13 1994-01-18 International Business Machines Corporation Signaling device and method for monitoring positions in a surgical operation
EP0676178A1 (fr) * 1994-04-08 1995-10-11 The Cleveland Clinic Foundation Dispositif d'orientation pour des outils
WO1999027839A2 (fr) * 1997-12-01 1999-06-10 Cosman Eric R Systeme de positionnement chirurgical
US6314311B1 (en) * 1999-07-28 2001-11-06 Picker International, Inc. Movable mirror laser registration system
US20030060706A1 (en) * 2001-08-16 2003-03-27 Frank Sauer Method and apparatus for spatiotemporal freezing of ultrasound images in augmented reality visualization
WO2004023783A2 (fr) * 2002-09-03 2004-03-18 Varian Medical Systems Technologies, Inc. Poursuite par une seule camera d'un objet
US20060149147A1 (en) * 2003-06-18 2006-07-06 Yanof Jeffrey H Remotely held needle guide for ct fluoroscopy

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE60112591T2 (de) * 2001-11-23 2006-05-18 Nucletron B.V. Automatische bildgesteuerte Einrichtung zur Einführung einer Kanüle in einen menschlichen oder tierischen Körper zur Strahlentherapie im diesem Körper
DE10249786A1 (de) * 2002-10-24 2004-05-13 Medical Intelligence Medizintechnik Gmbh Referenzierung eines Roboters zu einem Werkstück und Vorrichtung hierfür

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5279309A (en) * 1991-06-13 1994-01-18 International Business Machines Corporation Signaling device and method for monitoring positions in a surgical operation
EP0676178A1 (fr) * 1994-04-08 1995-10-11 The Cleveland Clinic Foundation Dispositif d'orientation pour des outils
WO1999027839A2 (fr) * 1997-12-01 1999-06-10 Cosman Eric R Systeme de positionnement chirurgical
US6314311B1 (en) * 1999-07-28 2001-11-06 Picker International, Inc. Movable mirror laser registration system
US20030060706A1 (en) * 2001-08-16 2003-03-27 Frank Sauer Method and apparatus for spatiotemporal freezing of ultrasound images in augmented reality visualization
WO2004023783A2 (fr) * 2002-09-03 2004-03-18 Varian Medical Systems Technologies, Inc. Poursuite par une seule camera d'un objet
US20060149147A1 (en) * 2003-06-18 2006-07-06 Yanof Jeffrey H Remotely held needle guide for ct fluoroscopy

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2289578A4 (fr) * 2008-06-16 2011-06-01 Nory Co Ltd Appareil de guidage d'aiguille de seringue
US11516443B2 (en) 2010-04-30 2022-11-29 Becton, Dickinson And Company System and method for acquiring images of medication preparations
US11064164B2 (en) 2010-04-30 2021-07-13 Becton, Dickinson And Company System and method for acquiring images of medication preparations
US10554937B2 (en) 2010-04-30 2020-02-04 Becton, Dickinson And Company System and method for acquiring images of medication preparations
US11838690B2 (en) 2010-04-30 2023-12-05 Becton, Dickinson And Company System and method for acquiring images of medication preparations
US9930297B2 (en) 2010-04-30 2018-03-27 Becton, Dickinson And Company System and method for acquiring images of medication preparations
US10412347B2 (en) 2010-04-30 2019-09-10 Becton, Dickinson And Company System and method for acquiring images of medication preparation
US11341641B2 (en) 2014-09-08 2022-05-24 Becton, Dickinson And Company Aerodynamically streamlined enclosure for input devices of a medication preparation system
US10853938B2 (en) 2014-09-08 2020-12-01 Becton, Dickinson And Company Enhanced platen for pharmaceutical compounding
US10692207B2 (en) 2014-09-08 2020-06-23 Becton, Dickinson And Company System and method for preparing a pharmaceutical compound
US11568537B2 (en) 2014-09-08 2023-01-31 Becton, Dickinson And Company Enhanced platen for pharmaceutical compounding
US11763448B2 (en) 2014-09-08 2023-09-19 Becton, Dickinson And Company System and method for preparing a pharmaceutical compound
US10679342B2 (en) 2014-09-08 2020-06-09 Becton, Dickinson And Company Aerodynamically streamlined enclosure for input devices of a medication preparation system
US12283042B2 (en) 2014-09-08 2025-04-22 Becton, Dickinson And Company Aerodynamically streamlined enclosure for input devices of a medication preparation system
US12315156B2 (en) 2014-09-08 2025-05-27 Becton, Dickinson And Company Enhanced platen for pharmaceutical compounding

Also Published As

Publication number Publication date
CN101568307B (zh) 2011-06-15
CN101568307A (zh) 2009-10-28

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