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WO2020234506A1 - Procédé et sytème de positionnement d'outils chirurgicaux pour chirurgie osseuse - Google Patents

Procédé et sytème de positionnement d'outils chirurgicaux pour chirurgie osseuse Download PDF

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Publication number
WO2020234506A1
WO2020234506A1 PCT/ES2020/070338 ES2020070338W WO2020234506A1 WO 2020234506 A1 WO2020234506 A1 WO 2020234506A1 ES 2020070338 W ES2020070338 W ES 2020070338W WO 2020234506 A1 WO2020234506 A1 WO 2020234506A1
Authority
WO
WIPO (PCT)
Prior art keywords
images
surgical
positioning
ray
surgical tool
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/ES2020/070338
Other languages
English (en)
Spanish (es)
Inventor
Francisco Javier NARBONA CARCELES
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.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Publication of WO2020234506A1 publication Critical patent/WO2020234506A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • 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
    • A61B34/10—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
    • A61B2034/2048—Tracking techniques using an accelerometer or inertia sensor
    • 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
    • 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

Definitions

  • the application of the needles or pins is done under direct vision and sometimes by palpation.
  • the surgeon usually uses X-ray machines during surgery (fluoroscope or C-arm).
  • navigated surgery devices consist of a series of sensors that are applied to the surgical instruments and allow the virtual position and orientation of the instrument to be visualized.
  • these devices have a high cost and require imaging tests (tomography, magnetic resonance) prior to surgery, so they are usually used in more complex or specific procedures.
  • an X-ray is first performed according to a certain projection, for example anteroposterior, showing the needle or pin mounted on surgical instruments that have been previously positioned in the most suitable direction.
  • the X-ray apparatus is then moved, without moving the surgical instruments with the needle or pin, and a second X-ray is taken in a second projection, for example axial, in which the needle has been previously positioned again. engine in the most suitable position.
  • the surgical material is radiopaque, so its outline is seen on the radiograph as a line.
  • the aforementioned analysis program is capable, from the lines corresponding to the contour of the surgical material shown in the radiographs, to continue the straight line making a long line that shows the estimated trajectory.
  • the present invention makes it possible to accurately determine, with only two radiographs, the trajectory and position of the needle or the pin before performing the perforation, where in addition a shorter surgical time and fewer necessary radiographs are convenient. to correctly position a needle, and where the final cost is much lower than conventional 3D navigation systems (navigated surgery).
  • Figure 3 shows the elements that are part of the Inertial Detection Unit
  • An IMU (7) that is, an inertial measurement unit, preferably 6 DOF (6 degrees of freedom), which consists of a magnetometer, accelerometers (preferably 3), gyroscopes (preferably 3) and thermometer.

Landscapes

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

Abstract

L'invention concerne un système pour l'aide au positionnement chirurgical d'aiguilles et de broches en chirurgie osseuse qui comprend : un appareil à rayons X (1) à arc en "C", qui est pourvu d'un écran (5); un moyen de transfert d'images depuis l'arc en "C" au moyen d'un câble ou d'une caméra (2) dirigée vers l'écran qui capture l'image à envoyer à un ordinateur (3); un moteur (4) pourvu d'une unité de détection de l'orientation (6) de l'aiguille, des moyens de traitement et de stockage d'un programme d'analyse et de représentation d'aide visuelle qui, sur une image, peut, détecter s'il existe une ligne et en cas de détection, prolonger la ligne afin de savoir vers où elle se dirige et l'unité de détection de l'orientation (6) transmettant sans fil le positionnement et l'orientation de l'aiguille montée sur le moteur (4). Le système permet le positionnement précis, rapide et avec peu de radiographies, d'aiguilles sur des os avant leur insertion définitive.
PCT/ES2020/070338 2019-05-22 2020-05-22 Procédé et sytème de positionnement d'outils chirurgicaux pour chirurgie osseuse Ceased WO2020234506A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ES201930448A ES2795501A1 (es) 2019-05-22 2019-05-22 Sistema para la ayuda en el posicionamiento quirurgico de agujas y pines para cirugia osea
ESP201930448 2019-05-22

Publications (1)

Publication Number Publication Date
WO2020234506A1 true WO2020234506A1 (fr) 2020-11-26

Family

ID=71465371

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/ES2020/070338 Ceased WO2020234506A1 (fr) 2019-05-22 2020-05-22 Procédé et sytème de positionnement d'outils chirurgicaux pour chirurgie osseuse

Country Status (2)

Country Link
ES (1) ES2795501A1 (fr)
WO (1) WO2020234506A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020193800A1 (en) * 2001-06-11 2002-12-19 Kienzle Thomas C. Surgical drill for use with a computer assisted surgery system
DE102010039604A1 (de) * 2010-08-20 2012-02-23 Siemens Aktiengesellschaft Verfahren zur Bildunterstützung bei einem medizinischen Eingriff mit einem Instrument, insbesondere einer Nadel, Computerprogramm und Röntgeneinrichtung
US20150257849A1 (en) * 2014-03-13 2015-09-17 Siemens Aktiengeselschaft Navigation aid for introducing an elongate medical penetration element into a patient
US20170119472A1 (en) * 2015-10-30 2017-05-04 Orthosensor Inc Spine measurement system and method therefor

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11089975B2 (en) * 2017-03-31 2021-08-17 DePuy Synthes Products, Inc. Systems, devices and methods for enhancing operative accuracy using inertial measurement units

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020193800A1 (en) * 2001-06-11 2002-12-19 Kienzle Thomas C. Surgical drill for use with a computer assisted surgery system
DE102010039604A1 (de) * 2010-08-20 2012-02-23 Siemens Aktiengesellschaft Verfahren zur Bildunterstützung bei einem medizinischen Eingriff mit einem Instrument, insbesondere einer Nadel, Computerprogramm und Röntgeneinrichtung
US20150257849A1 (en) * 2014-03-13 2015-09-17 Siemens Aktiengeselschaft Navigation aid for introducing an elongate medical penetration element into a patient
US20170119472A1 (en) * 2015-10-30 2017-05-04 Orthosensor Inc Spine measurement system and method therefor

Also Published As

Publication number Publication date
ES2795501A1 (es) 2020-11-23

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