WO1995007055A1 - Installation pour operation de microchirurgie assistee par ordinateur et procedes mis en ×uvre par ladite installation - Google Patents
Installation pour operation de microchirurgie assistee par ordinateur et procedes mis en ×uvre par ladite installation Download PDFInfo
- Publication number
- WO1995007055A1 WO1995007055A1 PCT/FR1994/001050 FR9401050W WO9507055A1 WO 1995007055 A1 WO1995007055 A1 WO 1995007055A1 FR 9401050 W FR9401050 W FR 9401050W WO 9507055 A1 WO9507055 A1 WO 9507055A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- tool
- frame
- image
- reference frame
- computer
- Prior art date
Links
Classifications
-
- 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
-
- 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
- A61B34/70—Manipulators specially adapted for use in surgery
-
- 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
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3983—Reference marker arrangements for use with image guided surgery
-
- 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
- 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
- A61B90/10—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 for stereotaxic surgery, e.g. frame-based stereotaxis
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Robotics (AREA)
- Pathology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Image Processing (AREA)
- Pharmaceuticals Containing Other Organic And Inorganic Compounds (AREA)
- Steroid Compounds (AREA)
- Crystals, And After-Treatments Of Crystals (AREA)
- Analysing Materials By The Use Of Radiation (AREA)
- Machine Tool Sensing Apparatuses (AREA)
- Manipulator (AREA)
- Studio Devices (AREA)
- Surgical Instruments (AREA)
- Image Generation (AREA)
- Numerical Control (AREA)
- Processing Or Creating Images (AREA)
Abstract
Description
Claims
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE69422631T DE69422631T2 (de) | 1993-09-07 | 1994-09-06 | Computerunterstützte mikrochirurgieausrüstung sowie diese ausrüstung gebrauchende verfahren |
EP94926960A EP0722299B1 (fr) | 1993-09-07 | 1994-09-06 | Installation pour operation de microchirurgie assistee par ordinateur et procedes mis en uvre par ladite installation |
AT94926960T ATE188601T1 (de) | 1993-09-07 | 1994-09-06 | Computerunterstützte mikrochirurgieausrüstung sowie diese ausrüstung gebrauchende verfahren |
JP7508490A JPH09507131A (ja) | 1993-09-07 | 1994-09-06 | 電算機支援顕微鏡外科手術のための設備と前記設備の使用法 |
US08/612,932 US5755725A (en) | 1993-09-07 | 1994-09-06 | Computer-assisted microsurgery methods and equipment |
DK94926960T DK0722299T3 (da) | 1993-09-07 | 1994-09-06 | Computerstøttet mikrokirurgisk udstyr og fremgangsmåde ved anvendelse heraf |
GR20000400910T GR3033219T3 (en) | 1993-09-07 | 2000-04-13 | Computer-assisted microsurgery equipment and methods for use with said equipment |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR93/10624 | 1993-09-07 | ||
FR9310624A FR2709656B1 (fr) | 1993-09-07 | 1993-09-07 | Installation pour opération de microchirurgie assistée par ordinateur et procédés mis en Óoeuvre par ladite installation. |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1995007055A1 true WO1995007055A1 (fr) | 1995-03-16 |
Family
ID=9450616
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/FR1994/001050 WO1995007055A1 (fr) | 1993-09-07 | 1994-09-06 | Installation pour operation de microchirurgie assistee par ordinateur et procedes mis en ×uvre par ladite installation |
Country Status (11)
Country | Link |
---|---|
US (1) | US5755725A (fr) |
EP (1) | EP0722299B1 (fr) |
JP (1) | JPH09507131A (fr) |
AT (1) | ATE188601T1 (fr) |
DE (1) | DE69422631T2 (fr) |
DK (1) | DK0722299T3 (fr) |
ES (1) | ES2145151T3 (fr) |
FR (1) | FR2709656B1 (fr) |
GR (1) | GR3033219T3 (fr) |
PT (1) | PT722299E (fr) |
WO (1) | WO1995007055A1 (fr) |
Cited By (64)
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WO1996033666A1 (fr) * | 1995-04-28 | 1996-10-31 | Siemens Aktiengesellschaft | Appareil de traitement par ondes acoustiques |
EP0755660A2 (fr) * | 1995-07-28 | 1997-01-29 | Armstrong Healthcare Limited | Dispositif d'alignement |
WO1997020515A1 (fr) * | 1995-12-04 | 1997-06-12 | Michael Vogele | Dispositif pour piloter des structures tridimensionnelles |
EP0793945A1 (fr) * | 1996-03-08 | 1997-09-10 | The University of Hull | Appareil et méthode chirurgical de positionnement |
JP2001506889A (ja) * | 1996-12-21 | 2001-05-29 | ディープイ・インターナショナル・リミテッド | 整形外科手術時の外科器具の位置決めおよび案内装置 |
DE19639615C5 (de) * | 1996-09-26 | 2008-11-06 | Brainlab Ag | Reflektorenreferenzierungssystem für chirurgische und medizinische Instrumente |
JP2009542362A (ja) * | 2006-06-29 | 2009-12-03 | インテュイティブ サージカル インコーポレイテッド | コンピュータディスプレイ画面の境界領域に表示されるツール位置および識別指標 |
WO2009034477A3 (fr) * | 2007-04-16 | 2010-02-04 | Neuroarm Surgical Ltd. | Procedes, dispositifs et systemes de mappage de trames et de retour d'effort |
USRE42194E1 (en) | 1997-09-24 | 2011-03-01 | Medtronic Navigation, Inc. | Percutaneous registration apparatus and method for use in computer-assisted surgical navigation |
US7998062B2 (en) | 2004-03-29 | 2011-08-16 | Superdimension, Ltd. | Endoscope structures and techniques for navigating to a target in branched structure |
USRE43328E1 (en) | 1997-11-20 | 2012-04-24 | Medtronic Navigation, Inc | Image guided awl/tap/screwdriver |
USRE43952E1 (en) | 1989-10-05 | 2013-01-29 | Medtronic Navigation, Inc. | Interactive system for local intervention inside a non-homogeneous structure |
US8452068B2 (en) | 2008-06-06 | 2013-05-28 | Covidien Lp | Hybrid registration method |
US8473032B2 (en) | 2008-06-03 | 2013-06-25 | Superdimension, Ltd. | Feature-based registration method |
US8611984B2 (en) | 2009-04-08 | 2013-12-17 | Covidien Lp | Locatable catheter |
US8663088B2 (en) | 2003-09-15 | 2014-03-04 | Covidien Lp | System of accessories for use with bronchoscopes |
US8764725B2 (en) | 2004-02-09 | 2014-07-01 | Covidien Lp | Directional anchoring mechanism, method and applications thereof |
US8834489B2 (en) | 2005-01-24 | 2014-09-16 | Intuitive Surgical Operations, Inc. | Modular manipulator support for robotic surgery |
US8838199B2 (en) | 2002-04-04 | 2014-09-16 | Medtronic Navigation, Inc. | Method and apparatus for virtual digital subtraction angiography |
US8905920B2 (en) | 2007-09-27 | 2014-12-09 | Covidien Lp | Bronchoscope adapter and method |
US8932207B2 (en) | 2008-07-10 | 2015-01-13 | Covidien Lp | Integrated multi-functional endoscopic tool |
US9055881B2 (en) | 2004-04-26 | 2015-06-16 | Super Dimension Ltd. | System and method for image-based alignment of an endoscope |
US9101397B2 (en) | 1999-04-07 | 2015-08-11 | Intuitive Surgical Operations, Inc. | Real-time generation of three-dimensional ultrasound image using a two-dimensional ultrasound transducer in a robotic system |
US9138129B2 (en) | 2007-06-13 | 2015-09-22 | Intuitive Surgical Operations, Inc. | Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide |
US9168102B2 (en) | 2006-01-18 | 2015-10-27 | Medtronic Navigation, Inc. | Method and apparatus for providing a container to a sterile environment |
US9291793B2 (en) | 2005-01-24 | 2016-03-22 | Intuitive Surgical Operations, Inc. | Apparatus for compact counter balance arms |
US9295524B2 (en) | 2012-06-01 | 2016-03-29 | Intuitive Surgical Operations, Inc. | Redundant axis and degree of freedom for hardware-constrained remote center robotic manipulator |
US9333042B2 (en) | 2007-06-13 | 2016-05-10 | Intuitive Surgical Operations, Inc. | Medical robotic system with coupled control modes |
US9339344B2 (en) | 2012-06-01 | 2016-05-17 | Intuitive Surgical Operations, Inc. | Surgical instrument manipulator aspects |
US9345387B2 (en) | 2006-06-13 | 2016-05-24 | Intuitive Surgical Operations, Inc. | Preventing instrument/tissue collisions |
US9358074B2 (en) | 2012-06-01 | 2016-06-07 | Intuitive Surgical Operations, Inc. | Multi-port surgical robotic system architecture |
US9469034B2 (en) | 2007-06-13 | 2016-10-18 | Intuitive Surgical Operations, Inc. | Method and system for switching modes of a robotic system |
US9492927B2 (en) | 2009-08-15 | 2016-11-15 | Intuitive Surgical Operations, Inc. | Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose |
US9504530B2 (en) | 1999-10-28 | 2016-11-29 | Medtronic Navigation, Inc. | Method and apparatus for surgical navigation |
US9516996B2 (en) | 2008-06-27 | 2016-12-13 | Intuitive Surgical Operations, Inc. | Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the position and orienting of its tip |
US9575140B2 (en) | 2008-04-03 | 2017-02-21 | Covidien Lp | Magnetic interference detection system and method |
US9597154B2 (en) | 2006-09-29 | 2017-03-21 | Medtronic, Inc. | Method and apparatus for optimizing a computer assisted surgical procedure |
US9622826B2 (en) | 2010-02-12 | 2017-04-18 | Intuitive Surgical Operations, Inc. | Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument |
US9675424B2 (en) | 2001-06-04 | 2017-06-13 | Surgical Navigation Technologies, Inc. | Method for calibrating a navigation system |
US9717563B2 (en) | 2008-06-27 | 2017-08-01 | Intuitive Surgical Operations, Inc. | Medical robotic system providing an auxilary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide |
US9757087B2 (en) | 2002-02-28 | 2017-09-12 | Medtronic Navigation, Inc. | Method and apparatus for perspective inversion |
US9789608B2 (en) | 2006-06-29 | 2017-10-17 | Intuitive Surgical Operations, Inc. | Synthetic representation of a surgical robot |
US9788909B2 (en) | 2006-06-29 | 2017-10-17 | Intuitive Surgical Operations, Inc | Synthetic representation of a surgical instrument |
US9867721B2 (en) | 2003-01-30 | 2018-01-16 | Medtronic Navigation, Inc. | Method and apparatus for post-operative tuning of a spinal implant |
US9956044B2 (en) | 2009-08-15 | 2018-05-01 | Intuitive Surgical Operations, Inc. | Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide |
US10008017B2 (en) | 2006-06-29 | 2018-06-26 | Intuitive Surgical Operations, Inc. | Rendering tool information as graphic overlays on displayed images of tools |
US10258425B2 (en) | 2008-06-27 | 2019-04-16 | Intuitive Surgical Operations, Inc. | Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide |
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US5603318A (en) | 1992-04-21 | 1997-02-18 | University Of Utah Research Foundation | Apparatus and method for photogrammetric surgical localization |
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DE69532829T2 (de) * | 1994-10-07 | 2005-01-27 | St. Louis University | Vorrichtung zur benutzung mit einem chirurgischen navigationssystem |
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US7111401B2 (en) * | 2003-02-04 | 2006-09-26 | Eveready Battery Company, Inc. | Razor head having skin controlling means |
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ATE547048T1 (de) | 2003-08-12 | 2012-03-15 | Univ Loma Linda Med | Modulares patientenunterstützungssystem |
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Also Published As
Publication number | Publication date |
---|---|
ATE188601T1 (de) | 2000-01-15 |
DK0722299T3 (da) | 2000-07-03 |
FR2709656A1 (fr) | 1995-03-17 |
DE69422631D1 (de) | 2000-02-17 |
EP0722299B1 (fr) | 2000-01-12 |
DE69422631T2 (de) | 2001-02-08 |
EP0722299A1 (fr) | 1996-07-24 |
ES2145151T3 (es) | 2000-07-01 |
FR2709656B1 (fr) | 1995-12-01 |
GR3033219T3 (en) | 2000-08-31 |
JPH09507131A (ja) | 1997-07-22 |
PT722299E (pt) | 2000-07-31 |
US5755725A (en) | 1998-05-26 |
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