EP0922438A1
Expired / Lapsed
EP
⏱️ 0.0 years remaining
Image guided interventional procedures
Assignee: Koninklijke Philips NV
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Filing: 1998-11-24
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Granted: —
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Expires: 2018-11-24
Abstract
Abstract A frameless stereotactic CT scanner includes a virtual needle display for planning image-guided interventional procedures. The virtual needle is useful for planning the introduction of an object such as a biopsy probe into a patient at an entry point along a trajectory (106, 106') to a target point (132, 132') within the patient. Using an imaging device, the patient is scanned to generate an image volume data set (110) of an area of the patient. Using a stereotactic mechanical arm assembly mounted on one end to the imaging device, a surgical planning device is positioned adjacent the patient on the imaging device. A display includes a first transverse axial view of the patient taking through an image slice corresponding to the virtual needle entry point on the patient and, a second transverse axial view of the patient taken on an image slice of the image volume data set corresponding to a target point within the patient. A first oblique axial/coronal view is also displayed together with the first and second transverse axial views, the oblique coronal view being co-planar with the virtual needle trajectory and closest to the coronal axis. All oblique sagittal view is displayed together with the above images, the oblique sagittal view being co-planar with the virtual needle. A manually adjustable virtual needle depth control member is used to adjust the "length" of a virtual needle displayed within the image volume data set. Each of the views displayed are simultaneously updated to reflect the then current position and orientation of a surgical planning device on a stereotactic mechanical arm assembly.
Inventors
- 👤 Jeffrey H. Yanof
- 👤 Paul H. Klahr
- 👤 Lauren O'donnell
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-31 17:47
CPC Classifications
A; A61; A61B; A61B90/00; A61B90/36; A61B90/10; A61B10/00; A61B10/02; A61B10/0233; A61B17/00; A61B17/00234; A61B2017/00477; A61B2017/00482; A61B2090/363; A61B34/00; A61B34/10; A61B90/11
Claims Analysis
Total Claims: 11
Claim 1
Independent Claim
274 words
A method of planning a minimally invasive surgical procedure (200) for
introducing an object along a trajectory from a patient entry point to a target point within
the patient, the method comprising: using an imaging device (18), scanning (202) the
patient to generate an image volume data set (110) of an area of the patient, the image
volume data set being formed of a plurality of two-dimensional image volume slices (112)
of the patient spaced apart along an axial axis substantially aligned with the toe-to-head
axis of the patient; using a stereotactic mechanical arm assembly (30) mounted on one
end in a fixed relationship to the imaging device (18) and having a surgical planning
device (100) defining a linear trajectory (106, 106') on the other end of the arm,
positioning the surgical planning device (100) adjacent the patient on the imaging device;
displaying a first transverse axial view (206, 242) of the patient on a first portion (142,
242) of a display device, the first transverse axial view of the patient being a display of
a first two-dimensional image slice (122) from said plurality of two-dimensional image
slices (112) of the patient where the linear trajectory intersects the patient's body defining
a patient entry point (130, 130'); and displaying a second transverse axial view (208,244)
of the patient on a second portion (144, 244) of the display device, the second transverse
axial view of the patient being a display of a second two-dimensional image slice (126)
from said plurality of two-dimensional image slices of the patient where the linear
trajectory intersects the patient's body at a first target point (132, 132') within the patient.
Claim 2
Dependent Claim
161 words
A method of planning a minimally invasive surgical procedure as claimed in claim
1, further comprising the step (214) of: while moving said surgical planning device from
a first position adjacent the patient to a second position adjacent the patient,
simultaneously updating at least a one of said first and second transverse axial views
(206, 208, 242, 244) so that i) the first transverse axial view (206, 242) corresponds to
a first two-dimensional image slice (122) from said plurality of two-dimensional image
slices (112) of the patient where the linear trajectory with the surgical planning device at
said second position intersects the patient's body defining a second patient entry point,
and ii) the second transverse axial view (208, 244) corresponds to a second two-dimensional
image slice from said plurality of two-dimensional image slices of the patient
where the linear trajectory with the surgical planning device at said second position
intersects the patient's body at a second target point within the patient.
Claim 3
Dependent Claim
48 words
A method of planning a minimally invasive surgical procedure as claimed in claim
2, wherein the step of simultaneously updating at least a one of said first and second
transverse axial views includes simultaneously updating both of said first (206, 242) and
second (208, 244) transverse axial views.
Claim 4
Independent Claim
97 words
A method of planning a minimally invasive surgical procedure as claimed in any
one of claims 1 to 3, further comprising the step (214) of: without moving said surgical
planning device (102), manually operating a virtual needle depth control member (28) to
change said second transverse axial view (208, 244) of the patient on said second portion
of the display device (148, 248) to correspond to a third two-dimensional image slice
from said plurality of two-dimensional image slices of the patient where the linear
trajectory intersects the patient's body at a second target point within the patient.
Claim 5
Dependent Claim
89 words
A method of planning a minimally invasive surgical procedure as claimed in claim
4, wherein the step of manually operating said virtual needle depth control member
includes: manually operating the virtual needle depth control member (28) in a first
direction to reduce a distance between the patient entry point (254) and the target point
(256) within the patient; and manually operating the virtual needle depth control member
in a second direction to increase a distance between the patient entry point (254) and the
target point (256) within the patient.
Claim 6
Independent Claim
140 words
A method of planning a minimally invasive surgical procedure as claimed in any
one of claims 1 to 5, further comprising the step of: while moving said surgical planning
device (102) from a first position adjacent the patient to a second position adjacent the
patient, updating only said first transverse axial view of the patient on said first portion
of the display device so that i) the first transverse axial view (242) corresponds to a first
two-dimensional image slice from said plurality of two-dimensional image slices of the
patient where the linear trajectory intersects the patient's body with the surgical planning
device at said second position, defining a second patient entry point, and ii) the second
transverse axial view (244) remains fixed corresponding to said first two-dimensional
image slice from said plurality of said two-dimensional image slices of the patient.
Claim 7
Independent Claim
150 words
A method of planning a minimally invasive surgical procedure as claimed in any
one of claims 1 to 6, further comprising the steps of: displaying a first oblique
axial/coronal view (210) of the patient on a third portion (146) of the display device, the
first oblique axial/coronal view of the patient being a display of a first plane within said
image volume data set (110) co-planar with said trajectory (106) from said patient entry
point to said target point within the patient; and displaying a first oblique coronal/sagittal
view (212) of the patient on a fourth portion (148) of the display device, the first oblique
coronal/sagittal view of the patient being a display of a second plane through said image
volume data set (110) that is co-planar with the trajectory (106) between said patient entry
point and the first target point within the patient and is substantially sagittal in
orientation.
Claim 8
Dependent Claim
76 words
A method of planning a minimally invasive surgical procedure as claimed in
claim 7, further comprising the step (216) of: while moving said surgical planning device
(102) from a first position adjacent the patient to a second position adjacent the patient,
simultaneously updating each of said first and second transverse axial views (206, 208)
of the patient, said first oblique coronal view (210) of the patient, and said first oblique
sagittal view (212) of the patient.
Claim 9
Independent Claim
39 words
A method of planning a minimally invasive surgical procedure as claimed in any
one of claims 1 to 8, wherein the step of scanning (202) the patient includes scanning the
patient at a fist position on the imaging device.
Claim 10
Independent Claim
136 words
A method of planning a minimally invasive surgical procedure as claimed in any
one of claims 1 to 9, further comprising the steps of: using said a stereotactic mechanical
arm assembly (30), positioning the surgical planning device (204) adjacent the patient on
the imaging device; displaying (216) a third transverse axial view of the patient on said
first portion of a display device, the third transverse axial view of the patient being a
display of a third two-dimensional image slice from said plurality of two-dimensional
image slices of the patient; and displaying (216) a fourth transverse axial view of the
patient on a second portion of the display device, the fourth transverse axial view of the
patient being a display of a fourth two-dimensional image slice from said plurality of two-dimensional
image slices of the patient.
Claim 11
Dependent Claim
278 words
Apparatus for planning a minimally invasive surgical procedure (200) for
introducing an object along a trajectory from a patient entry point to a target point within
the patient, comprising: an imaging device (18) for scanning (202) the patient to generate
an image volume data set (110) of an area of the patient, the image volume data set being
formed of a plurality of two-dimensional image volume slices (112) of the patient spaced
apart along an axial axis substantially aligned with the toe-to-head axis of the patient; a
stereotactic mechanical arm assembly (30) mounted on one end in a fixed relationship to
the imaging device (18) and having a surgical planning device (100) defining a linear
trajectory (106, 106') on the other end of the arm, the surgical planning device (100)
being capable of being positioned adjacent the patient on the imaging device; a display
device for displaying a first transverse axial view (206, 242) of the patient on a first
portion (142, 242) of the display device and a second transverse axial view (208,244) of
the patient on a second portion (144, 244) of the display device, the first transverse axial
view of the patient being a display of a first two-dimensional image slice (122) from said
plurality of two-dimensional image slices (112) of the patient where the linear trajectory
intersects the patient's body defining a patient entry point (130, 130'); and the second
transverse axial view of the patient being a display of a second two-dimensional image
slice (126) from said plurality of two-dimensional image slices of the patient where the
linear trajectory intersects the patient's body at a first target point (132, 132') within the
patient.
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