JP5154961B2 - 手術システム - Google Patents
手術システム Download PDFInfo
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- JP5154961B2 JP5154961B2 JP2008017707A JP2008017707A JP5154961B2 JP 5154961 B2 JP5154961 B2 JP 5154961B2 JP 2008017707 A JP2008017707 A JP 2008017707A JP 2008017707 A JP2008017707 A JP 2008017707A JP 5154961 B2 JP5154961 B2 JP 5154961B2
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- 238000001356 surgical procedure Methods 0.000 title claims description 32
- 238000001727 in vivo Methods 0.000 claims description 42
- 230000010365 information processing Effects 0.000 claims description 22
- 238000000034 method Methods 0.000 claims description 13
- 238000002604 ultrasonography Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 239000003550 marker Substances 0.000 claims 2
- 238000011503 in vivo imaging Methods 0.000 claims 1
- 239000000523 sample Substances 0.000 description 16
- 238000004891 communication Methods 0.000 description 15
- 238000011282 treatment Methods 0.000 description 10
- 230000007246 mechanism Effects 0.000 description 8
- 230000004048 modification Effects 0.000 description 7
- 238000012986 modification Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 239000002131 composite material Substances 0.000 description 4
- 238000002357 laparoscopic surgery Methods 0.000 description 3
- 210000000056 organ Anatomy 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000036772 blood pressure Effects 0.000 description 2
- 210000003811 finger Anatomy 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 206010028980 Neoplasm Diseases 0.000 description 1
- 210000001015 abdomen Anatomy 0.000 description 1
- 210000000683 abdominal cavity Anatomy 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 201000011510 cancer Diseases 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000002350 laparotomy Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
- 210000003813 thumb Anatomy 0.000 description 1
Images
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B2090/364—Correlation of different images or relation of image positions in respect to the body
- A61B2090/365—Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another image
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/25—User interfaces for surgical systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/14—Arm movement, spatial
- Y10S901/15—Jointed arm
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/14—Arm movement, spatial
- Y10S901/16—Cartesian, three degrees of freedom
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Surgical Instruments (AREA)
- Manipulator (AREA)
- Endoscopes (AREA)
Description
14、14a…内視鏡 18…手術室
24a〜24d…ロボットアーム 26、26a…コンソール
28…手術ロボット 30…データサーバ
32、32a…探触子 34…超音波診断装置
35、35a〜35c…ワイヤレス画像プロセッサ
36、36a…ディスプレイ 38a、38b…ジョイスティック
79、82、90、100…コントローラ
104…処理部 106…マルチウインドウプロセッサ
108、108a…操作スイッチ 110…制御インターフェイス
112…入力部 114…サブプロセッサ
116…スイッチ部 126…記録部
Claims (7)
- 少なくともマニピュレータと体内画像撮影手段とを用いて患者に外科処置を施すための手術システムであって、
前記体内画像撮影手段で得られる体内画像を含む複数の情報を同時に表示可能な表示手段と、
前記表示手段に情報を送信可能に設けられ、該表示手段に表示される前記複数の情報を処理する情報処理手段と、
予め前記患者の患部を撮影した患部画像に係る3次元患部画像情報を記憶したデータサーバと、
医療用ロボットシステムと、
を備え、
前記医療用ロボットシステムは、
前記マニピュレータが設けられ、該マニピュレータを移動自在なロボットアームと、
前記マニピュレータ及び前記ロボットアームを操作する操作手段と、
前記操作手段からの入力に基づき、前記マニピュレータ及び前記ロボットアームの動作を制御する動作制御手段とを有し、
前記体内画像に係る情報は、前記体内画像撮影手段から前記情報処理手段へ少なくとも一部に無線を介して送信され、
前記3次元患部画像情報は、前記データサーバから前記情報処理手段へ少なくとも一部に無線を介して送信されると共に、
前記3次元患部画像情報には、前記患部の位置座標が設定されており、
前記動作制御手段は、前記データサーバに記憶された前記3次元患部画像情報を取り込み、該3次元患部画像情報に係る診断画像座標系と、前記医療用ロボットシステムに係るロボット座標系との関連付けを行い、前記3次元患部画像情報に設定された前記患部の位置座標に基づき前記マニピュレータの前記患部への移動動作を誘導可能であり、
前記情報処理手段又は動作制御手段では、前記位置座標に基づく患部位置に係る情報を、前記体内画像に係る情報と相関して処理可能であると共に、
前記表示手段では、前記体内画像撮影手段により得られた前記体内画像に、前記3次元患部画像情報に基づく前記患部位置に係る情報を重畳して表示可能であることを特徴とする手術システム。 - 請求項1記載の手術システムにおいて、
前記3次元患部画像情報には、3点以上のマーカ座標が設定されており、
前記患者の患部の周辺部における前記マーカ座標に対応した位置にそれぞれ配置された複数のマニピュレータ位置設定部材に、前記各マニピュレータが当接させられることにより該位置を記憶し、前記動作制御手段の作用下に、前記診断画像座標系と前記ロボット座標系との関連付けを行うことを特徴とする手術システム。 - 請求項1記載の手術システムにおいて、
前記マニピュレータ及び前記ロボットアームの動作状態を示す動作情報は、前記動作制御手段から前記情報処理手段へ少なくとも一部に無線を介して送信されると共に、
前記表示手段は、前記動作情報を前記体内画像と同時に表示可能であることを特徴とする手術システム。 - 請求項1〜3のいずれか1項に記載の手術システムにおいて、
前記患者の患部の超音波画像を取得する超音波診断手段を備え、
前記超音波画像に係る情報は、前記超音波診断手段から前記情報処理手段へ少なくとも一部に無線を介して送信されると共に、
前記表示手段は、前記超音波画像を前記体内画像と同時に表示可能であることを特徴とする手術システム。 - 請求項1〜4のいずれか1項に記載の手術システムにおいて、
前記表示手段で表示される前記複数の情報を選択及び切換可能な操作スイッチを備え、
前記操作スイッチは、前記表示手段の表示画面上にタッチパネル式で設けられるか、又は、前記表示手段若しくは前記情報処理手段に設けられていることを特徴とする手術システム。 - 請求項1〜5のいずれか1項に記載の手術システムにおいて、
前記情報処理手段は、前記複数の情報を前記表示手段に同時に表示させるように複数のウインドウを設定して編集するマルチウインドウプロセッサを有することを特徴とする手術システム。 - 請求項6記載の手術システムにおいて、
前記情報処理手段は、前記体内画像に係る情報を処理して前記マルチウインドウプロセッサをバイパスして前記表示手段に表示させるバイパス表示手段を有することを特徴とする手術システム。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008017707A JP5154961B2 (ja) | 2008-01-29 | 2008-01-29 | 手術システム |
US12/175,520 US8998797B2 (en) | 2008-01-29 | 2008-07-18 | Surgical system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008017707A JP5154961B2 (ja) | 2008-01-29 | 2008-01-29 | 手術システム |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2009178230A JP2009178230A (ja) | 2009-08-13 |
JP5154961B2 true JP5154961B2 (ja) | 2013-02-27 |
Family
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Family Applications (1)
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JP2008017707A Active JP5154961B2 (ja) | 2008-01-29 | 2008-01-29 | 手術システム |
Country Status (2)
Country | Link |
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US (1) | US8998797B2 (ja) |
JP (1) | JP5154961B2 (ja) |
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