WO1995001757A1 - Systeme robotique d'examen rapproche et de traitement a distance d'organe mouvants - Google Patents

Systeme robotique d'examen rapproche et de traitement a distance d'organe mouvants Download PDF

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Publication number
WO1995001757A1
WO1995001757A1 PCT/NL1994/000156 NL9400156W WO9501757A1 WO 1995001757 A1 WO1995001757 A1 WO 1995001757A1 NL 9400156 W NL9400156 W NL 9400156W WO 9501757 A1 WO9501757 A1 WO 9501757A1
Authority
WO
WIPO (PCT)
Prior art keywords
image
moving target
locations
robotic
target area
Prior art date
Application number
PCT/NL1994/000156
Other languages
English (en)
Inventor
Cornelius Borst
Original Assignee
Cornelius Borst
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 Cornelius Borst filed Critical Cornelius Borst
Priority to AU74684/94A priority Critical patent/AU7468494A/en
Publication of WO1995001757A1 publication Critical patent/WO1995001757A1/fr

Links

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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/77—Manipulators with motion or force scaling
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/243—Image signal generators using stereoscopic image cameras using three or more 2D image sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00203—Electrical control of surgical instruments with speech control or speech recognition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00238—Type of minimally invasive operation
    • A61B2017/00243—Type of minimally invasive operation cardiac
    • 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
    • A61B2017/00694—Aspects not otherwise provided for with means correcting for movement of or for synchronisation with the body
    • 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
    • A61B2017/00694—Aspects not otherwise provided for with means correcting for movement of or for synchronisation with the body
    • A61B2017/00699—Aspects not otherwise provided for with means correcting for movement of or for synchronisation with the body correcting for movement caused by respiration, e.g. by triggering
    • 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
    • A61B2017/00694—Aspects not otherwise provided for with means correcting for movement of or for synchronisation with the body
    • A61B2017/00703—Aspects not otherwise provided for with means correcting for movement of or for synchronisation with the body correcting for movement of heart, e.g. ECG-triggered
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/02—Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors
    • A61B2017/0237—Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors for heart surgery
    • A61B2017/0243—Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors for heart surgery for immobilizing local areas of the heart, e.g. while it beats
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/502—Headgear, e.g. helmet, spectacles
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10004—Still image; Photographic image
    • G06T2207/10012—Stereo images
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N2013/0074—Stereoscopic image analysis
    • H04N2013/0085—Motion estimation from stereoscopic image signals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N2013/0074—Stereoscopic image analysis
    • H04N2013/0092—Image segmentation from stereoscopic image signals

Abstract

Système médical permettant une intervenion de pontage aortocoronarien par greffe à thorax ouvert sur le c÷ur battant, par arrêt de l'image cible virtuelle. Le système comporte, par exemple, (a) l'imagerie vidéo thoracoscopique tridimensionnelle de la zone cible chirurgicale et un affichage vidéo stéréoscopique à l'intérieur de lunettes opératoires; (b) la poursuite vidéo tridimensionnelle de repères au voisinage de la zone cible chirurgicale, ou la poursuite par d'autres moyens; (c) l'arrêt de l'image cible virtuelle par manipulation de l'image en temps réel de manière à minimiser le déplacement des repères; (d) des bras robotiques thoracoscopiques à compensation des mouvements de la cible; possédant des outils chirurgicaux thoracoscopiques assurant la poursuite en temps réel de la cible en mouvement; (e) la manipulation commandée par le chirurgien des outils chirurgicaux robotiques avec superposition des actions du chirurgien sur les mouvements de poursuite automatisée; (f) une commande vocale d'actionnement ou d'interruption de l'arrêt de l'image cible virtuelle ou de la poursuite automatisée effectuée par les bras robotiques; (g) une commande vocale de réduction proportionnnel des actions du chirurgien par les outils robotiques; et (h) une commande vocale d'un module d'agrandissement d'une partie précise de l'image stéréoscopique.
PCT/NL1994/000156 1993-07-07 1994-07-05 Systeme robotique d'examen rapproche et de traitement a distance d'organe mouvants WO1995001757A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU74684/94A AU7468494A (en) 1993-07-07 1994-07-05 Robotic system for close inspection and remote treatment of moving parts

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US8684693A 1993-07-07 1993-07-07
US08/086,846 1993-07-07

Publications (1)

Publication Number Publication Date
WO1995001757A1 true WO1995001757A1 (fr) 1995-01-19

Family

ID=22201288

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/NL1994/000156 WO1995001757A1 (fr) 1993-07-07 1994-07-05 Systeme robotique d'examen rapproche et de traitement a distance d'organe mouvants

Country Status (2)

Country Link
AU (1) AU7468494A (fr)
WO (1) WO1995001757A1 (fr)

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