JP4785114B2 - Marker holder and biological tissue motion detection system using the same - Google Patents

Description

  The present invention relates to a marker holder and a biological tissue motion detection system using the marker holder. More specifically, the present invention contributes to accurately grasping the movement of the surface of a biological tissue such as the heart during surgery. The present invention relates to a marker holder and a biological tissue motion detection system using the marker holder.

An artery called a coronary artery is stretched around the human heart. When this coronary artery is stenotic or occluded due to arteriosclerosis or the like, myocardial necrosis called myocardial infarction occurs. As treatment for such stenosis and occlusion of the coronary artery, coronary artery bypass surgery is performed in which another path of the coronary artery is newly secured so as to bypass the stenotic and occluded blood vessel site. In this operation, an artificial heart-lung machine that temporarily stops the patient's heart and maintains the blood circulation state of the patient is often used in order to facilitate blood vessel cutting and anastomosis. However, since the use of this heart-lung machine may cause post-operative cardiac function deterioration or cerebral damage associated with changes in blood flow, it is desirable to perform the surgery without using a heart-lung machine. . However, at this time, the heart is in a beating state, and it is difficult to perform operations such as cutting and anastomosis on the coronary artery stretched around the myocardium. Therefore, cutting, anastomosis, and the like are performed while restricting movement of the heart surface in the vicinity of the surgical site by applying an instrument called a heart stabilizer to the heart surface (see, for example, Patent Document 1).
JP 2003-61966 A

  However, when an operation is performed with the stabilizer applied to the surface of the heart, since the movement of the heart is forcibly suppressed, the burden on the patient's heart increases, which is not a preferable method.

  Therefore, since it is almost impossible for human hands to perform heart disease surgery such as the above-mentioned coronary artery bypass surgery while the heart is beating without using the stabilizer, surgery such as a scalpel or an endoscope is performed. There is a demand for a surgical robot in which a tool is held by a robot arm and the robot arm moves in accordance with the movement of the heart surface. Here, in order to control the operation of the robot arm, it is necessary to accurately grasp the motion of the heart surface near the surgical site.

  The present invention has been devised in view of such circumstances, and its purpose is to accurately grasp the movement of a living tissue such as the heart with a simple configuration during surgery using the robot. It is an object of the present invention to provide a marker holder that can contribute to motion control and a biological tissue motion detection system using the marker holder.

(1) In order to achieve the above object, the present invention provides a marker holder for holding a marker for detecting movement of a living tissue,
At least three struts are disposed between the inside and the outside of the living body, said a joint member connected respectively to both ends of each strut, is connected to the each joint member on the upper end side of each post, the marker is held A marker holding member that is connected to each joint member on the lower end side of each column, and an adsorption member that can be adsorbed to the surface of the living tissue,
The joint member is provided so as to be relatively rotatable with respect to each support column in substantially the entire circumferential direction.
Each of the columns is configured to follow the movement of the suction member and be arranged so as to maintain the marker holding member in substantially the same posture as the suction member.

  (2) Here, it is preferable to adopt a configuration in which the support column is supported by a port held at a substantially constant position, and the port is provided to allow a lateral movement of the support column within a certain range. .

(3) Moreover, this invention is a movement detection system of the biological tissue which detects the motion of a biological tissue using the said marker holder,
A three-dimensional position measurement device that recognizes the movement of the marker and measures the three-dimensional coordinates of the marker, and calculates the position and orientation of the suction member from the three-dimensional coordinates of the marker measured by the three-dimensional position measurement device It is configured to include an arithmetic device obtained in

  (4) Here, it is preferable that the marker is provided at three or more places on the marker holding member and at two or more places on the upper and lower sides of the support column that are exposed to the outside of the body.

  In the claims and this specification, “upper” and “lower” used in the description of the marker holder are “upper” in the state of the marker holder shown in FIG. 1 unless otherwise specified. ”And“ bottom ”.

  According to the present invention, when the adsorption member is fixed to the surface of the biological tissue such as the heart, the adsorption member moves according to the movement of the biological tissue, and the marker holding member moves in substantially the same posture as the adsorption member. Therefore, by measuring the position of the marker of the marker holding member and obtaining the posture of the marker holding member, the position and posture of the adsorption member, that is, the surface of the living tissue, whose posture has been translated downward can be easily obtained by calculation. be able to. In other words, the movement of the biological tissue is assured by the marker holder composed of a simple mechanism, the three-dimensional position measurement device that measures the position of the marker, and the arithmetic device that obtains the position and orientation of the surface of the biological tissue from the measured values. It is possible to grasp, and it is possible to surely grasp the movement of the living tissue with a simple configuration rather than obtaining the movement of the living tissue using image processing from an ultrasonic image or MRI image obtained by imaging the living tissue. . The data on the surface of the living tissue thus obtained can contribute to the operation control of the robot arm that holds the surgical instrument and the endoscope.

  Embodiments of the present invention will be described below with reference to the drawings.

  FIG. 1 is a configuration diagram of a biological tissue motion detection system according to the present embodiment. In this figure, the motion detection system 10 includes a marker 11 provided so as to be able to emit infrared rays, a marker holder 12 that holds the marker 11, and the three-dimensional coordinates of the marker 11 by detecting infrared rays from the marker 11. A three-dimensional position measuring device 13 to be detected and an arithmetic device 14 for obtaining the position and orientation of the lower end side of the marker holder 12 from the position of the marker 11 detected by the three-dimensional position measuring device 13 are configured. .

  The marker 11 is composed of an infrared light emitting diode, and is fixedly disposed at a plurality of locations on the marker holder 12 as will be described later.

  The marker holder 12 includes three support columns 16 extending in the vertical direction, joint members 17 connected to the upper and lower ends of each support column 16, and upper sides connected to the upper and lower ends of each joint member 17, respectively. While being fixed to the upper end side of the block 18 and the lower block 19 and the upper block 18, the marker holding member 20 holding the three markers 11 and the lower end side of the lower block 19 are fixed to the heart. And an adsorption member 22 that can be adsorbed to the surface of H.

  Each of the columns 16 is provided in a round bar shape having the same outer diameter and length, and is provided so as to be relatively movable, and is arranged in a direction penetrating inward and outward with respect to the thoracotomy region V of the human body. ing. Here, each column 16 is supported by inserting a portion that is exposed to the outside of the body through a ring-shaped port 24. The port 24 is set to an inner diameter that allows each strut 16 to move in the radial direction (lateral direction) within a certain range, and is held at a substantially constant position by the arm member 25. It should be noted that the port 24 may be temporarily attached to a hole formed in the skin portion of the human body. In addition, the marker 11 is fixed to each column 16 at two upper and lower positions which are higher than the port 24.

  The joint member 17 is constituted by a universal joint that allows each column 16 to rotate in the entire circumferential direction.

  The marker holding member 20 is configured by a substantially rectangular flat plate that is erected with respect to the upper block 18, and the markers 11 are arranged at three locations on the flat plate. Specifically, the markers 11 are provided at the first position O at the lower left corner in FIG. 1, the second position α at the upper left corner in FIG. 1, and the third position β at the lower right corner in FIG. ing. Here, a straight line Oα connecting the first position O and the second position α and a straight line Oβ connecting the first position O and the third position β are orthogonal to each other. Note that the markers 11 may be further arranged, for example, further provided in the upper right corner in FIG.

  The adsorbing member 22 is provided in a substantially horseshoe shape, and a known member that is closely fixed to the surface of the heart H by negative pressure from a suction pump (not shown) is used, but the present invention is limited to this. Instead, anything that can be adsorbed on the surface of the heart H due to the characteristics of the material or the like is acceptable.

  In the marker holder 12 having the above configuration, each support column 16 is disposed so as to extend from the outside of the body toward the inside of the body with the suction member 22 being sucked and fixed on the surface of the heart H. Each column 16 is inserted, and the marker holding member 20 is arranged on the uppermost side. When the heart H pulsates in this state, the suction member 22 moves following the movement of the surface of the heart H at this time, and the bottom fixed to the suction member 22 by the action of the three columns 16 and the joint member 17. The side block 19 and the upper block 18 fixed to the marker holding member 20 move in substantially the same posture. Accordingly, since the distance between the marker holding member 20 and the suction member 22 is constant by obtaining the posture of the marker holding member 20, the position and posture of the suction member 22, that is, the heart H to which the suction member 22 is fixed. It becomes possible to obtain the position and posture of the surface portion of the surface over time.

  The three-dimensional position measurement device 13 includes a light receiving unit that receives infrared light emitted from each marker 11, and tracks the irradiation of the infrared light according to the movement of the marker 11, thereby obtaining the three-dimensional coordinates of each marker 11. It has a known structure that can be detected. Since this structure is not the gist of the present invention, detailed description thereof is omitted. In addition, as the three-dimensional position measuring device 13, it is possible to use devices having various principles and structures as long as the three-dimensional coordinates of the part provided with each marker 11 can be detected.

  The arithmetic device 14 is configured by software and / or hardware, and is constituted by a computer in which a plurality of program modules and / or processing circuits such as a processor are incorporated. In this calculation device 14, the position and posture of the suction member 22 fixed to the surface of the heart H are obtained from the measurement value of the three-dimensional position measurement device 13, that is, the three-dimensional coordinates of each marker 11, by the following procedure. It has become.

  First, the attitude | position of the adsorption | suction member 22 is calculated | required with the following procedures.

と仮定する。
この際、第１位置Ｏを物体座標系の原点とし、物体座標系での各位置を、前記第１位置Ｏ´、第２位置α´、第３位置β´とすると、

となる。但し、ここでのＴ_０は、

である。 First, the coordinate system (camera coordinate system O-xyz) of the three-dimensional measuring device 13 is converted into the coordinate system (object coordinate system O-αβγ) of the marker holding member 20.
Here, the coordinates of the markers 11 at the first position O, the second position α, and the third position β in the camera coordinate system are

Assume that
At this time, if the first position O is the origin of the object coordinate system, and each position in the object coordinate system is the first position O ′, the second position α ′, and the third position β ′,

It becomes. However, T ₀ here is

It is.

Then, using the following inverse rotation determinant, the posture of the marker holding member 20, that is, the difference between the roll angle, the pitch angle, and the yaw angle between the coordinate axis of the camera coordinate system and the coordinate axis of the object coordinate system is calculated backward.

First, the point [alpha] ', roll angle theta _z is obtained by the following equation (1).

但し、

ここで、ヨー角θ_ｙは、次式（２）で求められる。

Next, the object coordinate system is rotated around the Z axis so that θ _z = 0 (y _{α ′} = 0). At this time,

However,

Here, the yaw angle θ _y is obtained by the following equation (2).

但し、

以上の計算により、α軸とｘ軸が一致する。 Next, the object coordinate system is rotated around the y axis so that θ _y = 0 (z _{α ″} = 0). At this time,

However,

With the above calculation, the α axis and the x axis coincide.

但し、

これにより、ピッチ角θ_ｘは、次式（３）で求められる。

ここで、

より、β軸とｙ軸、γ軸とｚ軸が一致する。
以上、式（１）〜（３）を使ってマーカ保持部材２０の姿勢が算出され、これは、前述したマーカ保持具１２の構造より、吸着部材２２の姿勢と同一となる。 The same procedure as above is performed for the point β ′.

However,

Thereby, pitch angle (theta) _x is calculated _| required by following Formula (3).

here,

Thus, the β axis and the y axis, and the γ axis and the z axis coincide.
As described above, the posture of the marker holding member 20 is calculated using the equations (1) to (3), and this is the same as the posture of the suction member 22 due to the structure of the marker holder 12 described above.

  Next, using the three-dimensional coordinates of the upper and lower two markers 11 provided on the support 16, the position of the suction member 22 is obtained by the following procedure.

  In FIG. 2, markers 11 and 11 provided on the support column 16 are schematically shown, and the three-dimensional coordinates of each point are shown. In this figure, the point P on the lower end side is the point of the central portion of the suction member 22.

Referring to FIG. 2, the coordinates P (x, y, z) of the attracting member 22 are obtained by the following equation.

  Therefore, according to such an embodiment, it is possible to easily obtain the movement of the surface of the heart H, that is, the change in the position and posture thereof, using the marker holder 12 having a relatively simple structure. obtain.

  In addition, in the said Example, although the support | pillar 16 of the marker holder 12 was comprised by three, as long as the attitude | position of the blocks 18 and 19 of the up-and-down both sides can be hold | maintained corresponding to the motion of the lower block 19, It is also possible to further adjust the number of columns 16.

  In the embodiment, the movement of the surface of the heart H is detected. However, the present invention is not limited to this, and other organs that move in conjunction with respiration, such as other organs such as the liver and stomach, The present invention can be applied to a living tissue, and can also be applied to a living tissue such as an organ of another animal.

  In addition, the configuration of each part of the apparatus in the present invention is not limited to the illustrated configuration example, and various modifications are possible as long as substantially the same operation is achieved.

The schematic perspective view showing the structure of the operation | movement detection system which concerns on a present Example. The figure used when calculating | requiring the position of an adsorption | suction member, each coordinate of an adsorption | suction member, and the figure which shows the height of a marker.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Motion detection system 11 Marker 12 Marker holder 13 Three-dimensional position measuring device 14 Arithmetic device 16 Support column 17 Joint member 20 Marker holding member 22 Adsorption member H Heart

Claims (4)

A marker holder for holding a marker for detecting movement of a living tissue,
At least three struts are disposed between the inside and the outside of the living body, said a joint member connected respectively to both ends of each strut, is connected to the each joint member on the upper end side of each post, the marker is held A marker holding member that is connected to each joint member on the lower end side of each column, and an adsorption member that can be adsorbed to the surface of the living tissue,
The joint member is provided so as to be relatively rotatable with respect to each support column in substantially the entire circumferential direction.
Each said support | pillar is arrange | positioned so that the movement of the said adsorption member may be followed and the said marker holding member may be maintained in the substantially same attitude | position as the said adsorption member.   2. The marker holding device according to claim 1, wherein the support column is supported by a port held at a substantially constant position, and the port is provided to allow a lateral movement of the support column within a fixed range. Ingredients. A biological tissue motion detection system that detects a movement of a biological tissue using the marker holder according to claim 1 or 2,
A three-dimensional position measurement device that recognizes the movement of the marker and measures the three-dimensional coordinates of the marker, and calculates the position and orientation of the suction member from the three-dimensional coordinates of the marker measured by the three-dimensional position measurement device A biological tissue motion detection system, comprising:   4. The biological tissue motion detection system according to claim 3, wherein the markers are provided at three or more locations on the marker holding member and at two or more locations on the upper and lower sides of the support column that are exposed to the outside of the body.

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