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WO2002000093A3 - Registration of target object images to stored image data - Google Patents

Registration of target object images to stored image data Download PDF

Info

Publication number
WO2002000093A3
WO2002000093A3 PCT/IL2001/000582 IL0100582W WO0200093A3 WO 2002000093 A3 WO2002000093 A3 WO 2002000093A3 IL 0100582 W IL0100582 W IL 0100582W WO 0200093 A3 WO0200093 A3 WO 0200093A3
Authority
WO
WIPO (PCT)
Prior art keywords
target
registration
dimensional images
coordinate system
image data
Prior art date
Application number
PCT/IL2001/000582
Other languages
French (fr)
Other versions
WO2002000093A2 (en
Inventor
Roni Yagel
Original Assignee
Insightec Image Guided Treat
Roni Yagel
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 Insightec Image Guided Treat, Roni Yagel filed Critical Insightec Image Guided Treat
Priority to AU67799/01A priority Critical patent/AU6779901A/en
Publication of WO2002000093A2 publication Critical patent/WO2002000093A2/en
Publication of WO2002000093A3 publication Critical patent/WO2002000093A3/en

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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic 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
    • A61B2034/2055—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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Robotics (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
  • Apparatus For Radiation Diagnosis (AREA)

Abstract

A system for supporting frameless stereotactic surgery in which a plurality of two-dimensional images are acquired of a rigid surgical target immediately before the target is exposed surgically. The two-dimensional images are registered with both a reference coordinate system and with a previously acquired three-dimensional image of the target to provide a coordinate transformation from the reference coordinate system to the target. Even after the target is exposed surgically, the acquisition and registration of further two-dimensional images is continued, to keep the coordinate transformation up to date. Registration of the two-dimensional images to the reference coordinate system is facilitated by a tracker that is rigidly attached to the probe that is used to acquire the two-dimensional images. Preferably, one or more similar trackers are attached rigidly to the surgical target to enhance the updating of the coordinate system.
PCT/IL2001/000582 2000-06-27 2001-06-26 Registration of target object images to stored image data WO2002000093A2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU67799/01A AU6779901A (en) 2000-06-27 2001-06-26 Registration of target object images to stored image data

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US60441400A 2000-06-27 2000-06-27
US09/604,414 2000-06-27

Publications (2)

Publication Number Publication Date
WO2002000093A2 WO2002000093A2 (en) 2002-01-03
WO2002000093A3 true WO2002000093A3 (en) 2003-10-30

Family

ID=24419515

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IL2001/000582 WO2002000093A2 (en) 2000-06-27 2001-06-26 Registration of target object images to stored image data

Country Status (2)

Country Link
AU (1) AU6779901A (en)
WO (1) WO2002000093A2 (en)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7398116B2 (en) 2003-08-11 2008-07-08 Veran Medical Technologies, Inc. Methods, apparatuses, and systems useful in conducting image guided interventions
US8979871B2 (en) 2009-08-13 2015-03-17 Monteris Medical Corporation Image-guided therapy of a tissue
US9138165B2 (en) 2012-02-22 2015-09-22 Veran Medical Technologies, Inc. Systems, methods and devices for forming respiratory-gated point cloud for four dimensional soft tissue navigation
US9218663B2 (en) 2005-09-13 2015-12-22 Veran Medical Technologies, Inc. Apparatus and method for automatic image guided accuracy verification
US9333038B2 (en) 2000-06-15 2016-05-10 Monteris Medical Corporation Hyperthermia treatment and probe therefore
US9433383B2 (en) 2014-03-18 2016-09-06 Monteris Medical Corporation Image-guided therapy of a tissue
US9504484B2 (en) 2014-03-18 2016-11-29 Monteris Medical Corporation Image-guided therapy of a tissue

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040218792A1 (en) * 2003-04-29 2004-11-04 Eastman Kodak Company Probe position measurement to facilitate image registration and image manipulation in a medical application
US8150495B2 (en) 2003-08-11 2012-04-03 Veran Medical Technologies, Inc. Bodily sealants and methods and apparatus for image-guided delivery of same
EP3492008B1 (en) 2005-09-13 2021-06-02 Veran Medical Technologies, Inc. Apparatus and method for image guided accuracy verification
EP1955668B1 (en) * 2007-02-07 2012-04-04 BrainLAB AG Method and device for the determination of alignment information during sonographically navigable repositioning of bone fragments
WO2012024686A2 (en) 2010-08-20 2012-02-23 Veran Medical Technologies, Inc. Apparatus and method for four dimensional soft tissue navigation
US9597008B2 (en) 2011-09-06 2017-03-21 Ezono Ag Imaging probe and method of obtaining position and/or orientation information
WO2013134782A1 (en) 2012-03-09 2013-09-12 The Johns Hopkins University Photoacoustic tracking and registration in interventional ultrasound
GB201303917D0 (en) 2013-03-05 2013-04-17 Ezono Ag System for image guided procedure
US9257220B2 (en) 2013-03-05 2016-02-09 Ezono Ag Magnetization device and method
US9459087B2 (en) 2013-03-05 2016-10-04 Ezono Ag Magnetic position detection system
US10675113B2 (en) 2014-03-18 2020-06-09 Monteris Medical Corporation Automated therapy of a three-dimensional tissue region
US20150305612A1 (en) 2014-04-23 2015-10-29 Mark Hunter Apparatuses and methods for registering a real-time image feed from an imaging device to a steerable catheter
US20150305650A1 (en) 2014-04-23 2015-10-29 Mark Hunter Apparatuses and methods for endobronchial navigation to and confirmation of the location of a target tissue and percutaneous interception of the target tissue
US10806346B2 (en) 2015-02-09 2020-10-20 The Johns Hopkins University Photoacoustic tracking and registration in interventional ultrasound
US10327830B2 (en) 2015-04-01 2019-06-25 Monteris Medical Corporation Cryotherapy, thermal therapy, temperature modulation therapy, and probe apparatus therefor
AU2016204942A1 (en) 2015-07-23 2017-02-09 Biosense Webster (Israel) Ltd. Surface registration of a ct image with a magnetic tracking system
EP3515317B1 (en) 2016-09-20 2020-05-20 Koninklijke Philips N.V. Ultrasound transducer tile registration
EP3566669A1 (en) * 2018-05-10 2019-11-13 Globus Medical, Inc. Systems and methods related to robotic guidance in surgery
CN109035414A (en) * 2018-06-20 2018-12-18 深圳大学 Generation method, device, equipment and the storage medium of augmented reality operative image
WO2021011646A2 (en) 2019-07-15 2021-01-21 Stryker Corporation Robotic hand-held surgical instrument systems and methods
CN110509300B (en) * 2019-09-30 2024-04-09 河南埃尔森智能科技有限公司 Steel hoop processing and feeding control system and control method based on three-dimensional visual guidance
CN116747039B (en) * 2023-08-17 2023-10-31 深圳卡尔文科技有限公司 Planting robot pose adjustment method, system and storage medium

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5682890A (en) * 1995-01-26 1997-11-04 Picker International, Inc. Magnetic resonance stereotactic surgery with exoskeleton tissue stabilization
US6216029B1 (en) * 1995-07-16 2001-04-10 Ultraguide Ltd. Free-hand aiming of a needle guide

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5682890A (en) * 1995-01-26 1997-11-04 Picker International, Inc. Magnetic resonance stereotactic surgery with exoskeleton tissue stabilization
US6216029B1 (en) * 1995-07-16 2001-04-10 Ultraguide Ltd. Free-hand aiming of a needle guide

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9387042B2 (en) 2000-06-15 2016-07-12 Monteris Medical Corporation Hyperthermia treatment and probe therefor
US9333038B2 (en) 2000-06-15 2016-05-10 Monteris Medical Corporation Hyperthermia treatment and probe therefore
US7398116B2 (en) 2003-08-11 2008-07-08 Veran Medical Technologies, Inc. Methods, apparatuses, and systems useful in conducting image guided interventions
US9218664B2 (en) 2005-09-13 2015-12-22 Veran Medical Technologies, Inc. Apparatus and method for image guided accuracy verification
US9218663B2 (en) 2005-09-13 2015-12-22 Veran Medical Technologies, Inc. Apparatus and method for automatic image guided accuracy verification
US9271794B2 (en) 2009-08-13 2016-03-01 Monteris Medical Corporation Monitoring and noise masking of thermal therapy
US9211157B2 (en) 2009-08-13 2015-12-15 Monteris Medical Corporation Probe driver
US8979871B2 (en) 2009-08-13 2015-03-17 Monteris Medical Corporation Image-guided therapy of a tissue
US9510909B2 (en) 2009-08-13 2016-12-06 Monteris Medical Corporation Image-guide therapy of a tissue
US9138165B2 (en) 2012-02-22 2015-09-22 Veran Medical Technologies, Inc. Systems, methods and devices for forming respiratory-gated point cloud for four dimensional soft tissue navigation
US9433383B2 (en) 2014-03-18 2016-09-06 Monteris Medical Corporation Image-guided therapy of a tissue
US9486170B2 (en) 2014-03-18 2016-11-08 Monteris Medical Corporation Image-guided therapy of a tissue
US9492121B2 (en) 2014-03-18 2016-11-15 Monteris Medical Corporation Image-guided therapy of a tissue
US9504484B2 (en) 2014-03-18 2016-11-29 Monteris Medical Corporation Image-guided therapy of a tissue

Also Published As

Publication number Publication date
AU6779901A (en) 2002-01-08
WO2002000093A2 (en) 2002-01-03

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