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System and method for robot targeting under fluoroscopy based on image servoing

A fluoroscopic and robotic technology, applied in surgical robots, surgical navigation systems, sensors, etc., can solve the problems of codes that do not provide the position and orientation of the C-arm, difficult and complex problems for patients, and achieve the effect of simple and repeatable operations.

Inactive Publication Date: 2005-05-04
THE JOHN HOPKINS UNIV SCHOOL OF MEDICINE
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Problems solved by technology

"Twirling" computerized image-based 3-D navigation systems on common C-arms is a complication because most portable fluoroscopy systems do not provide codes for the position and orientation of the C-arm
This creates difficulties in estimating the pose of the imaging device with respect to the patient, thus complicating the computer-aided process with this image information

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  • System and method for robot targeting under fluoroscopy based on image servoing
  • System and method for robot targeting under fluoroscopy based on image servoing
  • System and method for robot targeting under fluoroscopy based on image servoing

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[0023] For a discussion of the advantages and disadvantages of "uncalibrated" display methods, see Hager, G., Hespanha, J., Dodds, Z., Morse. A.S., "What Tasks Can Be Performed with an Uncalibrated Stereo Vision System?", IJCV 35( 1): pp.65-85, Nov. 1999, the contents of which are incorporated herein by reference.

[0024] The "uncalibrated" method is based on the technique used by experienced surgeons when performing manual needle insertion under fluoroscopy. Based on this technique, a calibration method was developed for percutaneous needle insertion based on superimposing the needle on the target, namely the renal pelvis. See the above article by Stoianovivi et al. (1997).

[0025] The above approach was implemented on the Percutaneous Kidney Access (PAKY) needle driver, which was subsequently augmented with a Remote Center for Motion (RCM) robot and GRAY support arm technology. See Stoianovici, D., Witcomb, L.L., Anderson, J.H., Taylor, R.H., Kavoussi, L.R.: "AModular Su...

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Abstract

A system and method for image-guided instrument calibration includes a robotic unit coupled to the instrument, an imaging unit, and a first control unit coupled to the robotic unit and coupled to the imaging unit. The control unit receives imaging data related to the target and the instrument from the imaging unit, and controls the robot unit to correctly orient the instrument for insertion based on the imaging data.

Description

[0001] Cross References to Related Applications [0002] This application claims priority to prior Provisional Patent Application 60 / 336,931, filed November 8, 2001, entitled "Fluorescence Servo Method for Robotic Calibration of Surgical Instruments," the contents of which are incorporated herein by reference. technical field [0003] The present invention relates to a robotic device and method for instrument calibration. In particular, it relates to systems and methods for computer-aided image-based instrument calibration under image-servo-based portable X-ray fluoroscopy. Background technique [0004] Minimally invasive and atraumatic surgery is experiencing widespread growth primarily due to less trauma to the patient and improved recovery time. A major problem encountered with minimally invasive surgery is that, as opposed to open surgery, the surgeon's visual perception is significantly reduced. Therefore, microwave, ultrasound, and magnetic resonance imaging techniqu...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/08A61B6/12A61B19/00
CPCA61B34/20A61B34/30A61B34/70A61B2034/107A61B2090/376
Inventor 丹尼尔·斯托拉诺维奇亚力桑德鲁·帕奇修路易斯 让·卡沃斯
Owner THE JOHN HOPKINS UNIV SCHOOL OF MEDICINE
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