WO2003041057A3 - System and method for robot targeting under flouroscopy based on image servoing - Google Patents

System and method for robot targeting under flouroscopy based on image servoing Download PDF

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Publication number
WO2003041057A3
WO2003041057A3 PCT/US2002/033623 US0233623W WO03041057A3 WO 2003041057 A3 WO2003041057 A3 WO 2003041057A3 US 0233623 W US0233623 W US 0233623W WO 03041057 A3 WO03041057 A3 WO 03041057A3
Authority
WO
WIPO (PCT)
Prior art keywords
servoing
image
robot
targeting under
under flouroscopy
Prior art date
Application number
PCT/US2002/033623
Other languages
French (fr)
Other versions
WO2003041057A2 (en
Inventor
Daniel Stoianovici
Alexandru Patriciu
Louis R Kavoussi
Original Assignee
Univ Johns Hopkins
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 Univ Johns Hopkins filed Critical Univ Johns Hopkins
Priority to CA002466378A priority Critical patent/CA2466378A1/en
Priority to JP2003543011A priority patent/JP2005529630A/en
Priority to EP02780502A priority patent/EP1450683A4/en
Priority to AU2002343552A priority patent/AU2002343552B2/en
Publication of WO2003041057A2 publication Critical patent/WO2003041057A2/en
Publication of WO2003041057A3 publication Critical patent/WO2003041057A3/en

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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
    • A61B34/20—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
    • A61B34/30—Surgical robots
    • 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
    • A61B34/10—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
    • 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

Abstract

System (100) may include a surgical robot (102) for physically moving an instrument , such as a needle , a pc (104) for perfoming image processing and robot control . a C-Arm imager (106) connected with a fluoroscopy unit (108) , and an operating room table (110). PC (104) may include a fluoro-servoing algorithm that controls needle orientation based or radiological feedback from the C- arm imager (106).
PCT/US2002/033623 2001-11-08 2002-11-08 System and method for robot targeting under flouroscopy based on image servoing WO2003041057A2 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
CA002466378A CA2466378A1 (en) 2001-11-08 2002-11-08 System and method for robot targeting under flouroscopy based on image servoing
JP2003543011A JP2005529630A (en) 2001-11-08 2002-11-08 System and method for robots targeting by fluoroscopy based on image servo
EP02780502A EP1450683A4 (en) 2001-11-08 2002-11-08 System and method for robot targeting under flouroscopy based on image servoing
AU2002343552A AU2002343552B2 (en) 2001-11-08 2002-11-08 System and method for robot targeting under flouroscopy based on image servoing

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US33693101P 2001-11-08 2001-11-08
US60/336,931 2001-11-08

Publications (2)

Publication Number Publication Date
WO2003041057A2 WO2003041057A2 (en) 2003-05-15
WO2003041057A3 true WO2003041057A3 (en) 2004-02-19

Family

ID=23318332

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2002/033623 WO2003041057A2 (en) 2001-11-08 2002-11-08 System and method for robot targeting under flouroscopy based on image servoing

Country Status (7)

Country Link
US (1) US7008373B2 (en)
EP (1) EP1450683A4 (en)
JP (1) JP2005529630A (en)
CN (1) CN100336490C (en)
AU (1) AU2002343552B2 (en)
CA (1) CA2466378A1 (en)
WO (1) WO2003041057A2 (en)

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Also Published As

Publication number Publication date
CA2466378A1 (en) 2003-05-15
CN100336490C (en) 2007-09-12
US20030120283A1 (en) 2003-06-26
CN1612711A (en) 2005-05-04
JP2005529630A (en) 2005-10-06
WO2003041057A2 (en) 2003-05-15
EP1450683A4 (en) 2009-11-11
US7008373B2 (en) 2006-03-07
AU2002343552B2 (en) 2006-04-27
EP1450683A2 (en) 2004-09-01

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