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1. 发明申请

US20090287223A1 REAL-TIME 3-D ULTRASOUND GUIDANCE OF SURGICAL ROBOTICS 审中-公开
标题翻译：实时三维超声引导手术机器人
公开(公告)号：US20090287223A1
公开(公告)日：2009-11-19
申请号：US12307628
申请日：2007-07-11
申请人： Eric Pua , Edward D. Light , Daniel Von Allmen , Stephen W. Smith
发明人： Eric Pua , Edward D. Light , Daniel Von Allmen , Stephen W. Smith
IPC分类号： A61B19/00 , A61B8/00 , A61B5/05
CPC分类号： A61B8/4488 , A61B8/0833 , A61B8/0841 , A61B8/12 , A61B8/445 , A61B8/483 , A61B34/30 , A61B34/70 , A61B90/11 , A61B2017/3413 , A61B2034/301 , A61B2090/378
摘要： Laparoscopic ultrasound has seen increased use as a surgical aide in general, gynecological, and urological procedures. The application of real-time three-dimensional (RT3D) ultrasound to these laparoscopic procedures may increase information available to the surgeon and serve as an additional intraoperative guidance tool. The integration of RT3D with recent advances in robotic surgery can also increase automation and ease of use. In one non-limiting exemplary implementation, a 1 cm diameter probe for RT3D has been used laparoscopically for in vivo imaging of a canine. The probe, which operates at 5 MHz, was used to image the spleen, liver, and gall bladder as well as to guide surgical instruments. Furthermore, the 3D measurement system of the volumetric scanner used with this probe was tested as a guidance mechanism for a robotic linear motion system in order to simulate the feasibility of RT3D/robotic surgery integration. Using images acquired with the 3D laparoscopic ultrasound device, coordinates were acquired by the scanner and used to direct a robotically controlled needle towards desired in vitro targets as well as targets in a post-mortem canine. The RMS error for these measurements was 1.34 mm using optical alignment and 0.76 mm using ultrasound alignment.
摘要翻译：腹腔镜超声检查作为手术辅助治疗的一般使用，妇科和泌尿系统的使用。将实时三维（RT3D）超声波应用于这些腹腔镜手术可能会增加外科医生可获得的信息，并作为额外的术中指导工具。 RT3D与机器人手术的最新进展相结合，也可以提高自动化程度和易用性。在一个非限制性示例性实施方案中，用于RT3D的1cm直径的探针已经被腹腔镜用于犬的体内成像。使用5 MHz运行的探头，用于对脾脏，肝脏和胆囊进行成像，并引导手术器械。此外，将该探头使用的体积扫描仪的3D测量系统作为机器人直线运动系统的引导机构进行了测试，以模拟RT3D /机器人手术整合的可行性。使用3D腹腔镜超声装置获取的图像，扫描仪获取坐标，并用于将机器人控制的针导向所需的体外靶标以及宰后犬中的靶标。这些测量的RMS误差为1.34mm，使用光学对准，使用超声对准为0.76mm。

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