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    • 4. 发明公开
    • Biopsy guide
    • Bildgesteuertes chirurgisches系统
    • EP0832611A2
    • 1998-04-01
    • EP97307600.3
    • 1997-09-26
    • Allen, George S.
    • Maciunas, Robert J.Fitzpatrick, J. MichaelMauer, Calvin R., Jr.McCrory, Jennifer J.Randall, Rory
    • A61B17/34A61B10/00A61B19/00
    • A61B90/11A61B10/0233A61B2017/3407
    • A surgeon can select an entry point and a target point in a preoperative image volume of the patient. The target point and entry point form a trajectory line (28) along with the surgeon wishes to perform a surgical procedure such as a biopsy and line up a surgical instrument. In the present invention, once a surgical platform (10/22) is moved along a guide arm or arc (12) close to a point on the trajectory line (28) the surgical platform (22) is locked to the guide arm (12). A pivot point position at the centre of a ball joint (26) in the middle of a metal plate is then arranged to be exactly at a point on the trajectory line (28). The metal plate is locked down and the ball joint (26) is rotated to ensure that the surgical sleeve (24) extends exactly along the trajectory line (28). This allows a decoupling between the position and orientation movements required to line the surgical sleeve (24) up with the trajectory line (28) to perform a surgical procedure. An interoperative localization device (ILD) is used to track the position of the surgical guide relative to the image space.
    • 外科医生可以在患者的术前图像体积中选择入口点和目标点。 目标点和入口点与外科医生一起形成轨迹线(28),希望执行外科手术,例如活组织检查并排列外科器械。 在本发明中,一旦手术平台(10/22)沿着靠近轨迹线(28)上的点的引导臂或弧(12)移动,手术平台(22)被锁定到引导臂(12) )。 然后在金属板中间的球窝接头(26)的中心处的枢转点位置精确地设置在轨迹线(28)上的一点上。 金属板被锁定并且球接头(26)被旋转以确保手术套筒(24)精确地沿着轨迹线(28)延伸。 这允许在将外科套筒(24)向上与轨迹线(28)对齐所需的位置和取向运动之间进行去耦以执行外科手术。 术中定位装置(ILD)用于跟踪外科手术导管相对于图像空间的位置。