WO2004023103A3 - Image guided interventional method and apparatus - Google Patents

Image guided interventional method and apparatus Download PDF

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Publication number
WO2004023103A3
WO2004023103A3 PCT/US2003/028161 US0328161W WO2004023103A3 WO 2004023103 A3 WO2004023103 A3 WO 2004023103A3 US 0328161 W US0328161 W US 0328161W WO 2004023103 A3 WO2004023103 A3 WO 2004023103A3
Authority
WO
WIPO (PCT)
Prior art keywords
patient
images
image guided
guided interventional
instrument
Prior art date
Application number
PCT/US2003/028161
Other languages
French (fr)
Other versions
WO2004023103A2 (en
WO2004023103A9 (en
Inventor
Louis K Arata
Original Assignee
Z Kat 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 Z Kat Inc filed Critical Z Kat Inc
Priority to AU2003268554A priority Critical patent/AU2003268554A1/en
Publication of WO2004023103A2 publication Critical patent/WO2004023103A2/en
Publication of WO2004023103A9 publication Critical patent/WO2004023103A9/en
Publication of WO2004023103A3 publication Critical patent/WO2004023103A3/en

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
    • A61B6/5211—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data
    • A61B6/5229—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image
    • A61B6/5247—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image combining images from an ionising-radiation diagnostic technique and a non-ionising radiation diagnostic technique, e.g. X-ray and ultrasound
    • 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
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/02—Devices for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
    • A61B6/03—Computerised tomographs
    • A61B6/032—Transmission computed tomography [CT]
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/12—Devices for detecting or locating foreign bodies
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/54—Control of apparatus or devices for radiation diagnosis
    • A61B6/547—Control of apparatus or devices for radiation diagnosis involving tracking of position of the device or parts of the device
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00681—Aspects not otherwise provided for
    • A61B2017/00725—Calibration or performance testing
    • 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
    • A61B2034/2072—Reference field transducer attached to an instrument or patient
    • 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
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • 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
    • A61B2090/3995—Multi-modality markers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/05—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves 
    • A61B5/055—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves  involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/04—Positioning of patients; Tiltable beds or the like
    • A61B6/0487—Motor-assisted positioning

Abstract

The present invention includes an image guided interventional system which enables registration of a patient, preferably automatically and without an explicit patient registration step on newly acquired images as the patient is moved out of the scanner (12). Only one set of images has to be taken. The position of the needle or other instrument (30) is tracked using a tracking system (28) and its position is continually displayed and updated with respect to the images. Therefore, there is no need to take additional images for purposes of tracking progress of an instrument being inserted into a patient.
PCT/US2003/028161 2002-09-09 2003-09-09 Image guided interventional method and apparatus WO2004023103A2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU2003268554A AU2003268554A1 (en) 2002-09-09 2003-09-09 Image guided interventional method and apparatus

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US40933902P 2002-09-09 2002-09-09
US60/409,339 2002-09-09

Publications (3)

Publication Number Publication Date
WO2004023103A2 WO2004023103A2 (en) 2004-03-18
WO2004023103A9 WO2004023103A9 (en) 2004-07-08
WO2004023103A3 true WO2004023103A3 (en) 2004-08-19

Family

ID=31978746

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2003/028161 WO2004023103A2 (en) 2002-09-09 2003-09-09 Image guided interventional method and apparatus

Country Status (3)

Country Link
US (1) US7359746B2 (en)
AU (1) AU2003268554A1 (en)
WO (1) WO2004023103A2 (en)

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US8010180B2 (en) * 2002-03-06 2011-08-30 Mako Surgical Corp. Haptic guidance system and method
US8996169B2 (en) 2011-12-29 2015-03-31 Mako Surgical Corp. Neural monitor-based dynamic haptics
US8801720B2 (en) * 2002-05-15 2014-08-12 Otismed Corporation Total joint arthroplasty system
US20050281465A1 (en) * 2004-02-04 2005-12-22 Joel Marquart Method and apparatus for computer assistance with total hip replacement procedure
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US20060063998A1 (en) * 2004-09-21 2006-03-23 Von Jako Ron Navigation and visualization of an access needle system
DE102004061591B3 (en) * 2004-12-21 2006-08-03 Siemens Ag Operation method of medical image-formation apparatus, involves correcting image of tested tissue, using comparison of actual position of patient's bed, with target position of bed
DE102005006775A1 (en) * 2005-02-15 2006-08-17 Maquet Gmbh & Co. Kg Arrangement for intraoperative registration
US9421019B2 (en) * 2005-04-07 2016-08-23 Omnilife Science, Inc. Robotic guide assembly for use in computer-aided surgery
US8108072B2 (en) * 2007-09-30 2012-01-31 Intuitive Surgical Operations, Inc. Methods and systems for robotic instrument tool tracking with adaptive fusion of kinematics information and image information
US8147503B2 (en) * 2007-09-30 2012-04-03 Intuitive Surgical Operations Inc. Methods of locating and tracking robotic instruments in robotic surgical systems
US8073528B2 (en) 2007-09-30 2011-12-06 Intuitive Surgical Operations, Inc. Tool tracking systems, methods and computer products for image guided surgery
US10555775B2 (en) * 2005-05-16 2020-02-11 Intuitive Surgical Operations, Inc. Methods and system for performing 3-D tool tracking by fusion of sensor and/or camera derived data during minimally invasive robotic surgery
US7840256B2 (en) 2005-06-27 2010-11-23 Biomet Manufacturing Corporation Image guided tracking array and method
EP1795142B1 (en) * 2005-11-24 2008-06-11 BrainLAB AG Medical tracking system using a gamma camera
DE102006004703B4 (en) * 2006-01-31 2016-08-04 MedCom Gesellschaft für medizinische Bildverarbeitung mbH Method and arrangement for operating a positioning robot
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US9808262B2 (en) * 2006-02-15 2017-11-07 Howmedica Osteonics Corporation Arthroplasty devices and related methods
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Also Published As

Publication number Publication date
AU2003268554A8 (en) 2004-03-29
US7359746B2 (en) 2008-04-15
WO2004023103A2 (en) 2004-03-18
US20040127788A1 (en) 2004-07-01
AU2003268554A1 (en) 2004-03-29
WO2004023103A9 (en) 2004-07-08

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