[go: up one dir, main page]

WO2016060308A1 - Robot du type à insertion d'aiguille pour intervention chirurgicale - Google Patents

Robot du type à insertion d'aiguille pour intervention chirurgicale Download PDF

Info

Publication number
WO2016060308A1
WO2016060308A1 PCT/KR2014/009839 KR2014009839W WO2016060308A1 WO 2016060308 A1 WO2016060308 A1 WO 2016060308A1 KR 2014009839 W KR2014009839 W KR 2014009839W WO 2016060308 A1 WO2016060308 A1 WO 2016060308A1
Authority
WO
WIPO (PCT)
Prior art keywords
needle
computer
robot
tumor
edge
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/KR2014/009839
Other languages
English (en)
Korean (ko)
Inventor
박창민
김남국
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.)
University of Ulsan Foundation for Industry Cooperation
Seoul National University Hospital
Original Assignee
University of Ulsan Foundation for Industry Cooperation
Seoul National University Hospital
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 University of Ulsan Foundation for Industry Cooperation, Seoul National University Hospital filed Critical University of Ulsan Foundation for Industry Cooperation
Publication of WO2016060308A1 publication Critical patent/WO2016060308A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B10/00—Instruments for taking body samples for diagnostic purposes; Other methods or instruments for diagnosis, e.g. for vaccination diagnosis, sex determination or ovulation-period determination; Throat striking implements
    • A61B10/02—Instruments for taking cell samples or for biopsy
    • 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
    • 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

Definitions

  • the present disclosure relates generally to a needle implantable interventional robotic device, and more particularly to a needle implantable interventional robotic device that effectively performs biopsy of a target point on a border of a heterogeneous lesion. will be.
  • Medical imaging-based biopsy is an interventional procedure that minimizes damage to the surrounding normal tissue and extracts the samples necessary for the pathological diagnosis of abnormal lesions, including post-peritoneal, adrenal, pancreatic and lymph nodes. It is widely applied to various organs in the abdominal cavity, lungs, mediastinum, spine and extremities. Medical image-based biopsy enables the detection of small lesions by using high resolution images to delicately localize the lesion area in three dimensions and view biopsy needles that have entered the tissue. .
  • the CT or C-arm fluoroscopy device and its images can be used to guide the insertion path of the biopsy needle, for example in the planning of the insertion path.
  • the path of insertion of the biopsy needle can be accurately planned by determining the entry angle and insertion point of the biopsy needle at.
  • the image acquisition device eg, Fluoroscopy device, CBCT device placed in the procedure room is aligned with the planned path, i.e., the orientation in which the biopsy needle will be inserted.
  • a navigation view is used to accurately guide the biopsy needle during the biopsy process.
  • a navigation view such as Surgeon's Eye View shown in FIG. 1
  • the center point of the target is shown, and the biopsy needle is based on the insertion point.
  • the target is displayed as a point and a circle is drawn around the point.
  • the tumor is not homogeneous but that the biological properties of the tumor (eg DNA mutation, malignancy) are different for each site within the tumor. Whether it is collected is an important issue in the diagnosis of the tumor, the prediction of the therapeutic effect of the tumor and the estimation of the patient's prognosis.
  • an active tumor cell is located at the edge of the tumor, and the inside of the tumor is necrotic, and there are no tumor cells (necrosis).
  • a biopsy needle is inserted at the center of the tumor, false negative Incorrectly diagnosed errors may occur. Therefore, the operator may intentionally stab the periphery of the tumor sensibly by experience while looking at the floroscopy image to biopsy this heterogeneous tumor.
  • heterogeneous tumors are biopsied with multi-spots that perform biopsy at a plurality of target points, and maps representing the properties of tissues according to positions in the tumor are matched by matching the biopsy location with the characteristics of the sample. It is very important medically, and it is more difficult to biopsy multiple spots based on the operator's experience.
  • FIG. 2 is a diagram illustrating an example of a navigation screen for an ablation procedure disclosed in U.S. Patent Application Publication No. 2013/0317363.
  • FIG. 2 illustrates a target treatment area 138b of an ablation procedure and an expected treatment range when the procedure is performed. 138a).
  • a target treatment area 138b of an ablation procedure and an expected treatment range when the procedure is performed.
  • a needle implantable interventional robot apparatus comprising: a computer integrating surgical planning information into an operating room image; a heterogeneous surgical target A computer incorporating surgical planning information, including a target point on the border of the device and insertion path of the needle-shaped medical instrument, into the operating room image; A robot having a needle-shaped medical tool, comprising: a robot operating according to a computer instruction such that the needle-shaped medical tool follows an insertion path; And a user interface (UI) showing the edge of the affected area using an operating room image in which the operation plan information is integrated with a computer. The operation of the end of the needle-shaped medical tool for the target point when the robot operates according to the operation plan.
  • a needle-inserted interventional robot device comprising a; user interface showing the expected arrival position.
  • 1 is a view showing an example of Surgeon's Eye View
  • FIG. 2 is a view showing an example of a navigation screen for the ablation procedure disclosed in US Patent Publication No. 2013/0317363;
  • FIG. 3 is a view for explaining an example of the needle insertion interventional robot apparatus according to the present disclosure
  • FIG. 4 is a view illustrating an example of a method of dividing a tumor and generating a surgical plan in a preoperative image
  • FIG. 5 is a view illustrating an example of a surgical plan including a plurality of target points, an insertion path, and an insertion point of a biopsy at the edge of a tumor;
  • FIG. 6 is a diagram illustrating an example of a preoperative image in which a tumor and an insertion path are visualized
  • FIG. 7 is a diagram illustrating an example of a method in which an operation plan is integrated into an operating room image
  • FIG. 8 is a view for explaining an example of the positioning means for grasping the relative position information of the patient and the biopsy needle;
  • FIG. 10 is a view for explaining an example of a robot equipped with a revolver type biopsy needle.
  • the needle insertion intervention robot device (hereinafter referred to as intervention intervention robot device) is a biopsy for reducing the radiation exposure, improving the accuracy of the procedure And therapeutic needle implantable imaging interventional robotic systems.
  • the interventional robotic device can be used for biopsy and treatment of 1 cm-class lesions in the abdomen, chest, and the like.
  • An example of a needle-type medical tool is a biopsy needle.
  • the interventional robot device may include a computer 600 that processes or generates a medical image, a robot 100 that works in conjunction with the computer, and an estimated arrival position of the tip of the biopsy needle 111 at the edge of the tumor. It includes a user interface 500 for showing and guiding.
  • the interventional robot device includes a master device 200 for controlling the robot 100 in real time in conjunction with the user interface 500, an image capturing device 300 for capturing the position of the biopsy needle 111 in the human body, and , The apparatus 100 for monitoring the position and posture of the robot 100, the patient 50, and peripheral devices, and the like.
  • the interventional robot device may be applied to biopsies of organs such as lungs, kidneys, liver, etc., and application to other parts of the organs is not excluded. In this example, the lungs are described.
  • the preoperative image is thresholded on the lung of the patient to segment the lesion 10 (eg, a tumor) and generate a surgical plan.
  • the lung images are segmented to prepare a divided lung image.
  • anatomical structures eg, blood vessels, ribs, airways, lung boundaries, etc.
  • Anatomical structures, such as airways and the like may be stored as a lung mask, a vessel mask, a rib mask, an airway mask, or the like.
  • the tumor 10 is divided by a segmentation technique (eg, adaptive threshold) using a HU value appropriate for the tumor 10 as a threshold value.
  • 4 shows an example of an axial cross section of a lung image in which the tumor 10 is divided.
  • the computer 600 is loaded with a preoperative image of the patient, and the operating room image and the preoperative image of the patient acquired at the procedure room are registered by the computer. As a result of the registration, a surgical plan including the insertion paths 82 and 84, the insertion point 41, the target point on the tumor, and the like made using the preoperative image is transferred to the operating room image. This is further described below.
  • FIG. 5 is a diagram illustrating an example of a surgical plan including a plurality of target points, an insertion path, and an insertion point of a biopsy at the edge of a tumor.
  • the tumor 10 may have active cancer cells at the edge 11 or the outer wall, and may have rotten water inside the tumor 10. Therefore, when the edge 11 and the inside of the tumor have different intensities in the image, and the thresholds are distinguished from the edges and the inside of the tumor 10, as shown in FIG. 5, the edge 11 and the inside of the tumor ( 15) are divided to separate.
  • the FDG-PET / CT image is used to distinguish between active and low metabolic sites with high intake of FDG and the like. Thresholding the standardized uptake value (SUV) allows the tumor 10 to be segmented as shown in FIG. 5.
  • the entire tumor 10 may be divided and defined-divided around the tumor 10 using Morphological operators such as distance map or Eroding from the tumor 10 boundary.
  • the divided tumor 10 may be generated as a 3D image. Therefore, the cross section of the tumor 10 can be seen in the direction required by the image processing software, the tumor 10 is visualized to be distinguished from the surroundings, and the edge of the tumor 10 is distinguished from the interior of the tumor 10. Can be.
  • the tumor 10 can be viewed in representative directions, such as axial view, coronal view, and sagittal view, and a surgical plan can be created based on this. .
  • a plurality of biopsy target points are captured at the edge 11 of the tumor.
  • the edge 11 of the tumor may be divided from the inside and the periphery by the division.
  • the interior of the tumor 10 is a cell (necrosis) dead, the edge 11 may be active cancer cells are distributed.
  • the number of target points may be determined at various positions in the tumor 10 as well as at the edge 11 as well as inside the tumor 10.
  • the tumor 10 may be heterogeneous, and the DNA mutation may be different according to the location, and thus the effect may be different when a particular drug or treatment is performed according to the location in the tumor 10. Therefore, if you do only one biopsy, there is a problem that other places live and relapse.
  • the thickness of the edge 11 can be estimated approximately statistically, for example, if the tumor 10 is as large as 2 centimeters, then the center of the tumor 10 is not biopsied or In addition to the biopsy of the center, a surgical plan is made to set a plurality of biopsy target points on the edge 11. If the biopsy needle 111 has a submillimeter accuracy, the surgical plan may be made to stab the edge 11 with an accuracy of 1 millimeter * 1 millimeter for a tumor 10 having a size of 20 millimeters wide. Can be.
  • a biopsy is preferable at a plurality of target points in the tumor 10, and then a map of the tumor 10 is made medically meaningful by matching the properties and positions of the samples.
  • Each insertion path can be made to reach each target point, for example, an insertion path is created such that blood vessels or other structures that intersect the insertion path are minimal. Accordingly, the insertion point of the biopsy needle 111 is determined on the skin of the patient. The insertion point may be smaller than the number of target points. For example, after the biopsy needle 111 is stabbed, other target points may be biopsied by changing the direction without completely removing it from the lung.
  • FIG. 6 illustrates an example of a preoperative image in which a tumor and an insertion path are visualized, and an insertion path (eg, 82) is visualized in 3D between a real rib and a rib.
  • the plurality of target points, insertion points, and insertion paths determined as described above are added to the preoperative image to generate a surgical plan.
  • the preoperative image is a 3D image, and as shown in FIG. 6 through volume rendering, the surgical plan may be generated in 3D.
  • the tumor 10 is divided from the periphery and is marked so that the edge 11 is distinguished.
  • the insertion path is visualized in three dimensions, and a target point (eg, 21) is displayed at the edge 11 of the tumor.
  • Tumor 10 has little contrast and is hardly visible in fluoroscopy city, and tumor 10 is generally shown in a circular shape, but in this example, the tumor 10 is divided so that the edge of tumor 10 is distinguished in the preoperative image. , So that it appears on the operating room image.
  • the biopsy may be performed assuming a certain thickness as the edge 11 from the boundary between the tumor 10 and the periphery. have.
  • FIG. 7 is a view illustrating an example of a method of integrating a surgical plan into an operating room image.
  • An operating room image is acquired at an operating room, and the preoperative image and the operating room image are matched to insert an operation path into the operating room image.
  • the plan is transferred.
  • rigid registration and deformable registration methods and the like may be used.
  • the insertion path 82 may be modified through the user interface 500, and an inappropriate insertion path may be removed in consideration of breathing or movement.
  • 7 (a) is an example of the pre-operative image
  • Figure 7 (b) is an image of the operation plan transfer image as the image of the operating room image and the pre-operative image is matched.
  • the insertion path on a multiplanar reconstruction (MPR, axial view, coronal view, sagittal view) 82, the insertion point and the target point may be overlaid and displayed (the axial view is illustrated in FIG. 7).
  • MPR multiplanar reconstruction
  • the biopsy needle 111 may be guided along the insertion path identified on the MPR to perform the procedure.
  • the final confirmed insertion path is transmitted to a robot or user interface (e.g. navigation device) or the like using TCP / IP or a dedicated communication protocol.
  • the biopsy needle 111 may of course be a single needle type, but a plurality of revolver types (see FIG. 10) may be mounted on the robot in order to biopsy a multi-spot, and thus it may be more effective to biopsy each target point sequentially.
  • FIG. 8 is a view for explaining an example of the positioning means for grasping the relative position information of the patient and the biopsy needle.
  • the positioning means for determining the relative positional relationship between the patient 960 and the biopsy needle 912.
  • the patient 960, the robot 911 with the biopsy needle 912, the infrared camera 991, the infrared reflector assemblies 911, 913, 914, the monitor 920 and the computer ( 940 is provided.
  • the infrared camera 991 detects the plurality of infrared reflectors 911 and 914 indicating the position of the patient 960 and the plurality of infrared reflectors or infrared emitters 913 provided at the ends of the biopsy needle 912, thereby allowing the needle 912 and The location of the patient 960 can be identified.
  • a computer 940 is provided for overall operation of the master console, and a monitor 920 is also provided.
  • the computer 940 and the monitor 920 may correspond to the computer 600 and the user interface 500 described with reference to FIG. 3.
  • the computer 940 also functions as a surgical navigation device.
  • the biopsy needle 912 of the robot 911 is actuated by the computer 940.
  • the infrared reflector assembly 911 is fixed to the patient 960 to indicate the position of the patient 960
  • the infrared reflector assembly 913 is fixed to the biopsy needle 912 to indicate the position of the biopsy needle 912
  • the infrared reflector Assembly 914 is positioned on the chest of patient 960 to indicate patient movement, such as breathing, sneezing of the patient.
  • an infrared camera and an infrared reflector are used, but a magnetic field can be used, and any means can be used as long as the position can be sensed. For example, it is possible to attach a magnetic sensor to the biopsy needle and track with the camera how far it moves.
  • the infrared reflector assembly 911 may be used to indicate the location information of the patient 960, may function as a reference position of the entire system, may be fixed to the patient 960, but may be fixed to the operating table, or the operating table. An additional infrared reflector assembly (not shown) may serve as a reference position. The location of the biopsy needle 912 relative to the patient 960 can be determined.
  • the robot 100 itself knows a location.
  • the robot 100 is holding the biopsy needle 111
  • the robot 100 itself can know its coordinates in the procedure.
  • the robot 100 itself may detect how many millimeters the biopsy needle 111 moves. Therefore, the computer can calculate the orientation and position of the biopsy needle 111 in the space of the procedure image.
  • the computer may calculate the current position of the biopsy needle 111 by matching with the floroscopy city for acquiring the procedure image in a matched operating image space.
  • the positioning means uses a plurality of methods to determine the positional relationship rather than using only one.
  • the distance between the biopsy needle 111 and the target point of the edge 11 of the tumor can be calculated by the computer calculating the relative positional relationship between the patient and the biopsy needle 111 identified by the one or more locating means. Therefore, when poking with the insertion path, the insertion angle, the insertion point, and the insertion distance determined in the surgical plan, the expected arrival position of the tip of the biopsy needle 111 is calculated by the computer.
  • the expected arrival location is displayed on the matched operating room image to inform the operator. This is further described below.
  • FIG. 9 illustrates an example of a user interface, and a plurality of screens 510, 520, 530, and 540 are displayed on the user interface 500.
  • a CT image CT volume; for example, an image transmitted from a floroscopy
  • a mask showing various structures or lesions of the lung is displayed.
  • a button for performing an operation plan and an information window for displaying procedure information or type.
  • the main screen 510 displays a matched operating room image displayed in 3D such that the edge 11 of the affected part is visually distinguished.
  • MPR images eg, 520, 530, 540
  • the tumor 10 having the edge 11 separated in the same direction as the axial view, the coronal view, and the sagittal view 530;
  • the expected arrival positions of the biopsy needle tips eg, 21, 22, 23, 24, 26 are indicated.
  • the relative position of the biopsy needle 111 and the patient 50 can be known in the same manner as described in FIG. 8, and the operating room image (eg, 510) visually displays the matched tumor 10 and simulates the tumor. Seat 11 appears. Therefore, the distance between the target point on the edge 11 of the tumor and the biopsy needle 111 and the expected arrival position (eg, 21, 22, 23, 24, 26) where it will be reached if stabbed to the projected depth at the currently aligned angle.
  • the computer can calculate it.
  • the computer can display the calculated estimated arrival position on the matched operating room image. Therefore, it is possible to visually know whether the target point and the expected arrival position (21, 22, 23, 24, 26) match. If there is a match, the operator instructs the computer 600 (see FIG.
  • the biopsy needle 111 is inserted into the human body by the operation of the robot 100 linked to the computer 600.
  • the position of the end of the biopsy needle 111 can be calculated in the operating room image space, the tumor 10 matched with this You can recheck if your goal is met by comparing the targets. If the expected arrival position and target point do not match, the surgical plan can be modified. For example, the screen displays the difference between the target point and the expected arrival position, and the computer can create an instruction to correct the position of the robot. Alternatively, the operator can instruct the computer by modifying the insertion path or depth.
  • a needle implantable interventional robot device comprising: a computer integrating surgical planning information into an operating room image, comprising: a target point and a needle point on the edge of a heterogeneous surgical target; A computer incorporating surgical planning information including an insertion path of a medical instrument into the operating room image; A robot having a needle-shaped medical tool, comprising: a robot operating according to a computer instruction such that the needle-shaped medical tool follows an insertion path; And a user interface (UI) showing the edge of the affected area using an operating room image in which the operation plan information is integrated with a computer. The operation of the end of the needle-shaped medical tool for the target point when the robot operates according to the operation plan is performed. And a user interface showing an expected arrival position.
  • UI user interface
  • the surgical plan includes a plurality of target points on the edge of the lesion, wherein the computer matches the location of each target point in the lesion and each sample of the lesion obtained at each target point by a needle-shaped medical instrument. Needle insertion interventional robot device, characterized in that for storing information.
  • the user interface includes: at least one screen showing a cross section of the affected part, the screen showing the edge of the affected part and the expected arrival position of the end of the needle-shaped medical tool; Device.
  • the needle inserted interventional robot device characterized in that the computer compares the estimated arrival position of the target point with the tip of the needle-type medical instrument and displays the position change information of the robot for matching on the user interface when there is a mismatch.
  • the at least one screen includes at least one of an axial view, a coronal view, and a sagittal view of the affected area, wherein the at least one screen includes an axial view, a coronal view, and a digital view.
  • At least one of the views is a needle insertion interventional robot device, characterized in that the edge of the affected area, the expected arrival position of the end of the needle-shaped medical tool is displayed.
  • the user interface includes: an additional screen showing a three-dimensional operating room image incorporating a surgical plan; an additional screen showing an edge of the affected part and an expected arrival position of the end of the needle-shaped medical tool; Needle insertion type interventional robot device, characterized in that.
  • the computer calculates the changed estimated arrival position, and the user interface displays the changed estimated arrival position on the screen and additional screens. Device.
  • the locating means includes: a marker for marking the needle-shaped medical tool and the patient; And
  • Needle insertion interventional robot device comprising a; sensing device for detecting a marker.
  • the needle-type medical instrument is a biopsy needle
  • the needle of the biopsy needle is a revolver type
  • a plurality of dogs mounted on the robot the needle insertion interventional robot device, characterized in that to sequentially biopsy each target point.
  • the needle-inserted interventional robot device According to one of the needle-inserted interventional robot device according to the present disclosure, it is possible to more accurately biopsy at the edge of the heterogeneous tumor, and to reduce the error or risk issued by the human biopsy.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Pathology (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Oral & Maxillofacial Surgery (AREA)

Abstract

La présente invention concerne un robot du type à insertion d'aiguille pour intervention chirurgicale, comprenant : en tant qu'ordinateur pour incorporer des informations de plan d'opération dans une image de salle d'opération, un ordinateur qui incorpore des informations de plan d'opération dans une image de salle d'opération, les informations de plan d'opération comprenant un point cible sur la bordure d'une cible chirurgicale hétérogène et une voie d'insertion d'un instrument médical du type aiguille ; en tant que robot comportant un instrument médical du type aiguille, un robot qui fonctionne conformément à la direction de l'ordinateur, de sorte que l'instrument médical du type aiguille suive la voie d'insertion ; et en tant qu'interface utilisateur (UI) qui interagit avec l'ordinateur et affiche la bordure de la cible chirurgicale à l'aide de l'image de salle d'opération dans laquelle ont été incorporées les informations de plan d'opération, une interface utilisateur (UI) qui affiche une position estimée que la pointe de l'instrument médical du type aiguille va atteindre par rapport au point cible lorsque le robot fonctionne conformément à un plan d'opération.
PCT/KR2014/009839 2014-10-17 2014-10-20 Robot du type à insertion d'aiguille pour intervention chirurgicale Ceased WO2016060308A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020140140896A KR101862133B1 (ko) 2014-10-17 2014-10-17 바늘 삽입형 중재시술 로봇 장치
KR10-2014-0140896 2014-10-17

Publications (1)

Publication Number Publication Date
WO2016060308A1 true WO2016060308A1 (fr) 2016-04-21

Family

ID=55746837

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2014/009839 Ceased WO2016060308A1 (fr) 2014-10-17 2014-10-20 Robot du type à insertion d'aiguille pour intervention chirurgicale

Country Status (2)

Country Link
KR (1) KR101862133B1 (fr)
WO (1) WO2016060308A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113133813A (zh) * 2021-04-01 2021-07-20 上海复拓知达医疗科技有限公司 基于穿刺过程的动态信息显示系统及方法
JP2021518243A (ja) * 2018-03-17 2021-08-02 キヤノン ユーエスエイ, インコーポレイテッドCanon U.S.A., Inc ３ｄ医用画像データにおける皮膚表面上の仮想デバイス配置のための方法
US12364422B2 (en) 2020-04-02 2025-07-22 Airs Medical Co., Ltd. Body-insertion device

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102168462B1 (ko) * 2018-06-12 2020-10-21 경북대학교 산학협력단 수술용 네비게이션 장치, 이를 이용한 네비게이션 수술 시스템 및 방법
KR102467282B1 (ko) 2019-12-31 2022-11-17 주식회사 코어라인소프트 의료 영상을 이용하는 중재시술 시스템 및 방법

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06165783A (ja) * 1992-11-30 1994-06-14 Olympus Optical Co Ltd 光診断装置
US20090149867A1 (en) * 2006-06-05 2009-06-11 Daniel Glozman Controlled steering of a flexible needle
WO2010110560A2 (fr) * 2009-03-24 2010-09-30 주식회사 래보 Système de robot chirurgical utilisant la réalité augmentée et procédé de contrôle correspondant
WO2011040769A2 (fr) * 2009-10-01 2011-04-07 주식회사 이턴 Dispositif de traitement d'images chirurgicales, procédé de traitement d'images, procédé de manipulation laparoscopique, système de robot chirurgical et procédé de limitation des opérations correspondant
US20110280810A1 (en) * 2010-03-12 2011-11-17 Carl Zeiss Meditec, Inc. Surgical optical systems for detecting brain tumors

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA2226938A1 (fr) * 1995-07-16 1997-02-06 Yoav Paltieli Pointage de guide d'aiguille a mains libres

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06165783A (ja) * 1992-11-30 1994-06-14 Olympus Optical Co Ltd 光診断装置
US20090149867A1 (en) * 2006-06-05 2009-06-11 Daniel Glozman Controlled steering of a flexible needle
WO2010110560A2 (fr) * 2009-03-24 2010-09-30 주식회사 래보 Système de robot chirurgical utilisant la réalité augmentée et procédé de contrôle correspondant
WO2011040769A2 (fr) * 2009-10-01 2011-04-07 주식회사 이턴 Dispositif de traitement d'images chirurgicales, procédé de traitement d'images, procédé de manipulation laparoscopique, système de robot chirurgical et procédé de limitation des opérations correspondant
US20110280810A1 (en) * 2010-03-12 2011-11-17 Carl Zeiss Meditec, Inc. Surgical optical systems for detecting brain tumors

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2021518243A (ja) * 2018-03-17 2021-08-02 キヤノン ユーエスエイ, インコーポレイテッドCanon U.S.A., Inc ３ｄ医用画像データにおける皮膚表面上の仮想デバイス配置のための方法
JP7252268B2 (ja) 2018-03-17 2023-04-04 キヤノン ユーエスエイ，インコーポレイテッド ３ｄ医用画像データにおける皮膚表面上の仮想デバイス配置のための方法
US12364422B2 (en) 2020-04-02 2025-07-22 Airs Medical Co., Ltd. Body-insertion device
CN113133813A (zh) * 2021-04-01 2021-07-20 上海复拓知达医疗科技有限公司 基于穿刺过程的动态信息显示系统及方法
WO2022206416A1 (fr) * 2021-04-01 2022-10-06 上海复拓知达医疗科技有限公司 Système et procédé d'affichage d'informations dynamiques basés sur un processus de perforation

Also Published As

Publication number Publication date
KR101862133B1 (ko) 2018-06-05
KR20160046012A (ko) 2016-04-28

Similar Documents

Publication Publication Date Title
US11974865B2 (en) System and method of providing distance and orientation feedback while navigating in 3D
KR102467282B1 (ko) 의료 영상을 이용하는 중재시술 시스템 및 방법
US11701184B2 (en) System and method for catheter detection in fluoroscopic images and updating displayed position of catheter
US12059281B2 (en) Systems and methods of fluoro-CT imaging for initial registration
EP3164050B1 (fr) Vue cartographique dynamique en 3d du poumon permettant à un instrument de naviguer à l'intérieur dudit poumon
EP3289964B1 (fr) Systèmes pour fournir une sensibilisation de proximité des limites pleurales, structures vasculaires et autres structures intra-thoraciques critiques pendant une bronchoscopie par navigation électromagnétique
EP3964161B1 (fr) Système fluoroscopique amélioré par tomodensitométrie, dispositif et son procédé d'utilisation
JP2022524443A (ja) テンプレート化されターゲット化されたバイオプシと処置のためのガイダンス及びトラッキングシステム
US10123841B2 (en) Method for generating insertion trajectory of surgical needle
US12208232B2 (en) Localization needle
US20150305612A1 (en) Apparatuses and methods for registering a real-time image feed from an imaging device to a steerable catheter
WO2015164587A2 (fr) Appareils et méthodes pour la navigation endobronchique vers l'emplacement d'un tissu cible, la confirmation de l'emplacement d'un tissu cible et l'interception percutanée du tissu cible
WO2011058516A1 (fr) Systèmes et procédés de planification et de réalisation de procédures avec aiguille percutanée
JP7221190B2 (ja) 最適化されたデバイス対画像の位置合わせのための構造マスキングまたはアンマスキング
WO2017043926A1 (fr) Procédé de guidage de processus d'intervention utilisant des images médicales et système pour processus d'intervention pour celui-ci
WO2016060308A1 (fr) Robot du type à insertion d'aiguille pour intervention chirurgicale
WO2017043924A1 (fr) Procédé de guidage de procédure d'intervention à l'aide d'images médicales, et système de procédure d'intervention associé
WO2016056838A1 (fr) Dispositif médical de navigation
He et al. A minimally invasive multimodality image-guided (MIMIG) molecular imaging system for peripheral lung cancer intervention and diagnosis
EP4601579A1 (fr) Systèmes et procédés de confirmation de la position ou de l'orientation d'un dispositif médical par rapport à une cible
CN119949860A (zh) 立体视觉影像与三维影像的匹配方法、手术辅助方法、系统
WO2014175608A1 (fr) Méthode de comparaison de niveau respiratoire préopératoire avec un niveau respiratoire peropératoire

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 14904207

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 11/09/2017)

122 Ep: pct application non-entry in european phase

Ref document number: 14904207

Country of ref document: EP

Kind code of ref document: A1