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WO2020185049A3 - 페디클 스크류 고정 플래닝 시스템 및 방법 - Google Patents

페디클 스크류 고정 플래닝 시스템 및 방법 Download PDF

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Publication number
WO2020185049A3
WO2020185049A3 PCT/KR2020/003565 KR2020003565W WO2020185049A3 WO 2020185049 A3 WO2020185049 A3 WO 2020185049A3 KR 2020003565 W KR2020003565 W KR 2020003565W WO 2020185049 A3 WO2020185049 A3 WO 2020185049A3
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Prior art keywords
pedicle screw
planning
basis
image
present
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Ceased
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PCT/KR2020/003565
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French (fr)
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WO2020185049A2 (ko
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최진혁
우동기
황성택
이성
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Curexo Inc
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Curexo Inc
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Priority to JP2021554669A priority Critical patent/JP7355407B2/ja
Priority to EP20769607.1A priority patent/EP3939511A4/en
Priority to CN202080019837.4A priority patent/CN113543714B/zh
Priority to US17/437,713 priority patent/US11666390B2/en
Publication of WO2020185049A2 publication Critical patent/WO2020185049A2/ko
Publication of WO2020185049A3 publication Critical patent/WO2020185049A3/ko
Anticipated expiration legal-status Critical
Priority to JP2023100449A priority patent/JP7618285B2/ja
Ceased legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/12—Arrangements for detecting or locating foreign bodies
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
    • A61B6/5205—Devices using data or image processing specially adapted for radiation diagnosis involving processing of raw data to produce diagnostic data
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
    • A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws or setting implements
    • A61B17/68—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin
    • A61B17/70—Spinal positioners or stabilisers, e.g. stabilisers comprising fluid filler in an implant
    • A61B17/7074—Tools specially adapted for spinal fixation operations other than for bone removal or filler handling
    • A61B17/7076—Tools specially adapted for spinal fixation operations other than for bone removal or filler handling for driving, positioning or assembling spinal clamps or bone anchors specially adapted for spinal fixation
    • A61B17/7082—Tools specially adapted for spinal fixation operations other than for bone removal or filler handling for driving, positioning or assembling spinal clamps or bone anchors specially adapted for spinal fixation for driving, i.e. rotating, screws or screw parts specially adapted for spinal fixation, e.g. for driving polyaxial or tulip-headed screws
    • 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
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/25—User interfaces for surgical systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/42—Arrangements for detecting radiation specially adapted for radiation diagnosis
    • A61B6/4275—Arrangements for detecting radiation specially adapted for radiation diagnosis using a detector unit almost surrounding the patient, e.g. more than 180°
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/50—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications
    • A61B6/505—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications for diagnosis of bone
    • 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
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • 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
    • A61B90/36—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
    • A61B2090/3762—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy using computed tomography systems [CT]
    • A61B2090/3764—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy using computed tomography systems [CT] with a rotating C-arm having a cone beam emitting source
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/44—Constructional features of apparatus for radiation diagnosis
    • A61B6/4405—Constructional features of apparatus for radiation diagnosis the apparatus being movable or portable, e.g. handheld or mounted on a trolley
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/44—Constructional features of apparatus for radiation diagnosis
    • A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
    • A61B6/4435—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure
    • A61B6/4441—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure the rigid structure being a C-arm or U-arm

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  • Surgery (AREA)
  • Medical Informatics (AREA)
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  • Veterinary Medicine (AREA)
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  • Optics & Photonics (AREA)
  • Physics & Mathematics (AREA)
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  • High Energy & Nuclear Physics (AREA)
  • Robotics (AREA)
  • Neurology (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Human Computer Interaction (AREA)
  • Gynecology & Obstetrics (AREA)
  • Dentistry (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Surgical Instruments (AREA)

Abstract

본 발명은 페디클 스크류 고정 플래닝 시스템 및 방법에 관한 것으로서, 더욱 상세하게는, C-arm 이미지를 기초로 페디클 스크류의 길이, 삽입 경로 등을 플래닝하는 시스템 및 방법에 관한 것이다. 본 발명의 페디클 스크류 고정 플래닝 시스템은 환자의 척추 이미지를 촬영하는 C-arm; C-arm 이미지상에서 페디클 스크류의 진입점 및 삽입 끝점을 제공하는 삽입경로 제공부; 기준 좌표계를 기초로 상기 진입점 및 상기 삽입 끝점의 공간 좌표를 산출하는 정합부; 상기 진입점 및 상기 삽입 끝점의 공간 좌표를 기초로 상기 페디클 스크류의 삽입 자세를 결정하고, 상기 삽입 자세에 따라 상기 진입점을 향하여 상기 프로브의 삽입을 가이드하기 위한 가이드장치; 및 상기 프로브가 삽입됨에 따라 뼈에 맞닿는 시작점의 좌표를 획득하고 상기 삽입 끝점의 좌표와 상기 시작점 좌표 사이의 거리를 산출하여 페디클 스크류의 길이 조건을 결정하는 스크류 결정부를 포함한다. 본 발명은 플래닝시 사용하던 기존 CT 이미지를 대신하여 C-arm 이미지를 이용하므로, 환자의 방사선 피폭을 줄이고 수술 절차를 간소화할 수 있다. 본 발명에 의하면, 수술 중에도 C-arm 이미지 기반으로 수술계획을 수정 조정할 수 있고, 이미지 정합을 생략할 수 있어 수술 진행의 리뷰 및 수술도구 네비게이션의 정확성을 향상시킬 수 있다. 또한, 플래닝 과정에서 활용된 스크류 가이드 자세를 기반으로 연속적으로 시술에 활용할 수 있어 수술 절차를 신속하게 진행할 수 있다.
PCT/KR2020/003565 2019-03-13 2020-03-13 페디클 스크류 고정 플래닝 시스템 및 방법 Ceased WO2020185049A2 (ko)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP2021554669A JP7355407B2 (ja) 2019-03-13 2020-03-13 椎弓根スクリューの固定プランニングシステム及び方法
EP20769607.1A EP3939511A4 (en) 2019-03-13 2020-03-13 System and method for planning pedicle screw fixation
CN202080019837.4A CN113543714B (zh) 2019-03-13 2020-03-13 用于规划椎弓根螺钉固定的系统和方法
US17/437,713 US11666390B2 (en) 2019-03-13 2020-03-13 System and method for planning pedicle screw fixation
JP2023100449A JP7618285B2 (ja) 2019-03-13 2023-06-20 椎弓根スクリューの固定プランニングシステム及び方法

Applications Claiming Priority (2)

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KR1020190028981A KR102166149B1 (ko) 2019-03-13 2019-03-13 페디클 스크류 고정 플래닝 시스템 및 방법
KR10-2019-0028981 2019-03-13

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WO2020185049A2 WO2020185049A2 (ko) 2020-09-17
WO2020185049A3 true WO2020185049A3 (ko) 2020-11-05

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US (1) US11666390B2 (ko)
EP (1) EP3939511A4 (ko)
JP (2) JP7355407B2 (ko)
KR (1) KR102166149B1 (ko)
CN (1) CN113543714B (ko)
WO (1) WO2020185049A2 (ko)

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US11666390B2 (en) 2023-06-06
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