JP2001104333A - Surgery support device - Google Patents
Surgery support deviceInfo
- Publication number
- JP2001104333A JP2001104333A JP28698299A JP28698299A JP2001104333A JP 2001104333 A JP2001104333 A JP 2001104333A JP 28698299 A JP28698299 A JP 28698299A JP 28698299 A JP28698299 A JP 28698299A JP 2001104333 A JP2001104333 A JP 2001104333A
- Authority
- JP
- Japan
- Prior art keywords
- surgical instrument
- image
- surgical
- surgery support
- manipulator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、手術等を支援する
ための手術支援装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operation support apparatus for supporting an operation or the like.
【０００２】[0002]
【従来の技術】近年、患者に対する侵襲（手術等の際に
患者に与える身体的な負担）が少ないという理由から、
内視鏡画像などの身体内部の画像情報を使用する手術が
普及しており、微細なマニピュレータを使用して手術を
行う方法が開発されている。2. Description of the Related Art In recent years, patients are less invasive (physical burden on patients during surgery, etc.).
Surgery using image information of the inside of the body such as an endoscope image has become widespread, and a method of performing surgery using a fine manipulator has been developed.
【０００３】しかし、内視鏡画像のみからでは画面奥行
き方向の距離や術野の位置の把握が難しい。そこで、手
術を支援するための画像情報を作成して内視鏡画像上に
重ね合わせる表示手段を用いて手術を支援する装置が開
発されている。[0003] However, it is difficult to grasp the distance in the depth direction of the screen and the position of the surgical field only from the endoscope image. Therefore, an apparatus has been developed which supports image surgery by using display means for creating image information for assisting the surgery and superimposing the image information on an endoscope image.
【０００４】このような技術は、たとえば特開平９−１
９４４１号公報、特開平８−２１５２１１号公報などに
開示されている。特開平９−１９４４１号公報では、撮
像した患部の画像上に対象部位の立体形状を表す３次元
画像を作成し、位置整合して合成する手法が開示されて
いる（従来技術１という）。また、特開平８−２１５２
１１号公報では、撮像した患部の画像情報と手術器具と
が患部に及ぼす応力、手術器具と患部との相対関係、手
術器具の動作方向を表す画像情報を合成する手法が紹介
されている（従来技術２という）。[0004] Such a technique is disclosed, for example, in Japanese Patent Laid-Open No. 9-1.
No. 9441, Japanese Patent Application Laid-Open No. 8-215211, and the like. Japanese Patent Application Laid-Open No. Hei 9-19441 discloses a technique of creating a three-dimensional image representing a three-dimensional shape of a target site on a captured image of a diseased part and performing position matching and combining the three-dimensional images (referred to as Conventional Technique 1). In addition, Japanese Patent Application Laid-Open No. H08-2152
In Japanese Patent Application Publication No. 11 (1999), there is introduced a method of synthesizing image information representing the stress of the imaged image of the affected area and the surgical instrument on the affected area, the relative relationship between the surgical instrument and the affected area, and the operation direction of the surgical instrument. Technology 2).
【０００５】[0005]
【発明が解決しようとする課題】しかし、上記従来技術
１及び２では、手術器具の可動範囲に関する情報の明示
がない。そのため、術者（医師など）は手術器具の可動
限界が分からなかった。また、手術対象部位への接近方
法や手術器具の選択を誤まらないようにすることに対し
ては、配慮されていなかった。さらに、上記従来技術１
及び２では、手術支援画像が撮像した患部の画像を隠す
という点に対して考慮されていなかった。However, in the above-mentioned prior arts 1 and 2, there is no information about the movable range of the surgical instrument. For this reason, the surgeon (a doctor or the like) did not know the movable limit of the surgical instrument. In addition, no consideration has been given to avoiding mistakes in the approach to the operation target site and the selection of surgical instruments. Further, the above prior art 1
In No. 2 and No. 2, no consideration has been given to the point that the surgery support image hides the captured image of the affected part.
【０００６】本発明の目的は、手術器具の可動範囲に関
する情報を明示することによって術者が手術器具の可動
限界が分かるようにし、これによって術中の精神的安定
が得られる手術支援装置を提供することにある。本発明
の他の目的は、操作限界を明示することにより、操作術
者が限界を超える力を入力して装置を破壊することから
防止できる手術支援装置を提供することにある。SUMMARY OF THE INVENTION An object of the present invention is to provide a surgical assisting apparatus which allows an operator to know the operating limit of a surgical instrument by clearly indicating information on the movable range of the surgical instrument, thereby obtaining mental stability during the operation. It is in. It is another object of the present invention to provide a surgery support device that can specify an operation limit and prevent the operator from inputting a force exceeding the limit and destroying the device.
【０００７】本発明のさらに他の目的は、手術器具の動
作方向を明示することで誤った操作をすることを防止で
きる手術支援装置を提供することにある。本発明のさら
に他の目的は、術者が操作限界を把握することで接近方
法及び手術器具の選択を誤ることを防止できる手術支援
装置を提供することにある。It is still another object of the present invention to provide a surgical operation support apparatus that can prevent an erroneous operation by clearly indicating the operation direction of a surgical instrument. Still another object of the present invention is to provide a surgery support device that can prevent an operator from erroneously selecting an approach method and a surgical instrument by grasping an operation limit.
【０００８】[0008]
【課題を解決するための手段】本発明の手術支援装置に
係る発明の構成は、患部撮像画像を参考にして手術を行
う際に手術を支援する手術支援装置において、先端が手
術器具を操作可能なマニピュレータと、このマニピュレ
ータを制御する手術器具操作手段と、手術器具に設置し
たセンサからの情報を計測する手術器具センサ情報計測
手段と、計測されたセンサ情報を基に、手術支援画像を
作成する手術支援画像作成手段と、患部画像撮像手段
と、各画像を制御して合成する画像制御手段と、制御さ
れた画像を表示する画像表示手段とを有し、前記手術支
援画像は、手術器具と手術器具を操作可能なマニピュレ
ータの可動範囲を示すものである。According to a first aspect of the present invention, there is provided a surgical assisting apparatus for assisting a surgical operation in performing a surgical operation with reference to an image of a diseased part. A surgical manipulator, a surgical instrument operating means for controlling the manipulator, a surgical instrument sensor information measuring means for measuring information from a sensor installed on the surgical instrument, and a surgical assistance image based on the measured sensor information. Surgery support image creation means, diseased part image capturing means, image control means for controlling and synthesizing each image, and image display means for displaying a controlled image, the surgery support image is a surgical instrument and 3 illustrates a movable range of a manipulator capable of operating a surgical instrument.
【０００９】そして、好ましくは、前記手術器具を操作
可能なマニピュレータは、先端が手術器具の形状をして
いるマニピュレータであることを特徴とする請求項１に
記載の手術支援装置。[0009] Preferably, the manipulator capable of operating the surgical instrument is a manipulator having a tip shaped like a surgical instrument.
【００１０】また好ましくは、前記手術器具を操作可能
なマニピュレータは、先端で手術器具を把持可能なマニ
ピュレータであることを特徴とする請求項１に記載の手
術支援装置。Preferably, the manipulator capable of operating the surgical instrument is a manipulator capable of gripping the surgical instrument at its tip.
【００１１】さらにまた、好ましくは、前記手術支援画
像は、手術器具と手術器具を操作可能なマニピュレータ
の限界ときに限界を表示するものである。Still preferably, the surgery support image displays a limit when a surgical instrument and a manipulator capable of operating the surgical instrument are limited.
【００１２】さらにまた、好ましくは、前記手術支援画
における手術器具の動作情報は、撮像された患部画像に
おける手術器具の画像上に重ねて表示するものである。Still further, preferably, the operation information of the surgical instrument in the surgical support image is displayed so as to be superimposed on the image of the surgical instrument in the taken image of the affected part.
【００１３】さらにまた、好ましくは、前記手術支援画
像における手術器具の動作情報は、手術対象の画像を避
けて表示するものである。[0013] Still further, preferably, the operation information of the surgical instrument in the surgical support image is displayed so as to avoid an image of a surgical target.
【００１４】さらにまた、好ましくは、前記手術支援画
像における手術器具と手術対象までの相対距離の情報
は、手術器具の動きに応じて表示方法を変化させるもの
である。 さらにまた、好ましくは、前記手術器具の物
体に対する把持力は、マニピュレータ画像に重ねてイン
ジケータで表示するものである。[0014] Still further, preferably, the information on the relative distance between the surgical instrument and the operation target in the surgical assist image changes a display method according to the movement of the surgical instrument. Still preferably, the grasping force of the surgical instrument on the object is displayed by an indicator over the manipulator image.
【００１５】さらにまた、好ましくは、前記手術器具の
関節における屈曲角度は、マニピュレータ画像に重ねて
マークで表示し、手術器具の関節が曲がっていないとき
は、手術器具先端は手術器具の延長方向に向き、角度の
増加に応じて回転させるものである。Still preferably, the bending angle at the joint of the surgical instrument is displayed as a mark superimposed on the manipulator image, and when the joint of the surgical instrument is not bent, the distal end of the surgical instrument extends in the extension direction of the surgical instrument. It rotates according to the increase in the direction and angle.
【００１６】さらにまた、好ましくは、前記手術器具全
体の回転方向は、回転角度表示でマニピュレータ画像に
重ねて表示し、目盛は手術器具の回転に応じて回転させ
るものである。Still preferably, the rotational direction of the surgical instrument as a whole is superimposed and displayed on the manipulator image by a rotation angle display, and the scale is rotated in accordance with the rotation of the surgical instrument.
【００１７】さらにまた、好ましくは、前記手術器具の
先端から手術器具延長方向の脳表までの距離表示は、手
術器具が画面に対して所定以上の角度で曲がっていると
きは、所定距離毎に半径の違う同心円で表示し、円の数
で距離が分かるようにするものである。Still preferably, the distance from the distal end of the surgical instrument to the surface of the brain in the direction in which the surgical instrument extends is displayed at every predetermined distance when the surgical instrument is bent at a predetermined angle or more with respect to the screen. The concentric circles with different radii are displayed so that the distance can be recognized by the number of circles.
【００１８】さらにまた、好ましくは、前記手術器具の
画面垂直方向に対する角度が所定以上のときには、端点
を手術器具の先端と手術器具延長方向の脳表に合わせ
て、所定距離毎に手術器具の指す方向と垂直方向に目盛
りを付して表示するものである。Still preferably, when the angle of the surgical instrument with respect to the screen vertical direction is equal to or greater than a predetermined value, the surgical instrument is pointed at a predetermined distance by aligning the end point with the distal end of the surgical instrument and the brain surface in the surgical instrument extension direction. The scale is displayed in the direction perpendicular to the direction.
【００１９】[0019]
【発明の実施の形態】以下、本発明の実施の形態を図面
を参照して説明する。図１ないし図７は、本発明の第一
の実施例に係る手術支援装置の説明図で、図１は、手術
支援装置の手術時の使用状況を示したものである。図２
は、手術支援装置の構成及び制御作用について示したも
のである。図３は、マニピュレータの外観図である。図
４は、手術支援画像の一実施例を示したものである。図
５は、手術支援画像の合成の説明図である。Embodiments of the present invention will be described below with reference to the drawings. FIGS. 1 to 7 are explanatory views of a surgery support apparatus according to a first embodiment of the present invention, and FIG. 1 shows a use state of the surgery support apparatus at the time of surgery. FIG.
9 shows the configuration and control action of the surgery support device. FIG. 3 is an external view of the manipulator. FIG. 4 shows an embodiment of the surgery support image. FIG. 5 is an explanatory diagram of the synthesis of the surgery support image.
【００２０】図１において、手術器具をマニピュレータ
（ロボット腕）を使用して操作する場合を想定してい
る。１は手術器具操作手段で、操作レバーが使用され、
手術器具及びマニピュレータの動作を操作するためのも
ので、術者２がこれを操作する。３は手術器具制御手段
で、図示操作卓内に内蔵されている。４はマニピュレー
タで、微細な手術器具使用を操作するためのものであ
り、自身も微細に製作されている。５は患者で、頭部開
口部位にマニピュレータ４が位置している。６は患部画
像撮像手段、７は画像表示手段、８は手術支援画像作成
手段、９は画像制御手段、１０は生態内部情報計測手段
である。In FIG. 1, it is assumed that a surgical instrument is operated using a manipulator (robot arm). 1 is a surgical instrument operating means, which uses an operating lever,
The operation of the surgical instrument and the manipulator is operated by the operator 2. Reference numeral 3 denotes a surgical instrument control means which is built in the illustrated console. Reference numeral 4 denotes a manipulator for operating a fine surgical instrument, and the manipulator itself is also finely manufactured. Reference numeral 5 denotes a patient, and the manipulator 4 is located at the opening of the head. 6 is an affected part image capturing means, 7 is an image display means, 8 is a surgery support image creating means, 9 is an image control means, and 10 is a biological internal information measuring means.
【００２１】術者２は、患者５の小さな開口部位よりマ
ニピュレータ４を挿入し、画像表示手段７の画像を参考
にしながら、手術器具操作手段１によって手術器具操作
情報１１（図２参照、詳細は後述する）を手術器具制御
手段３に入力する。手術器具制御手段３は入力された手
術器具操作情報１１を手術器具制御情報１２（図２参
照、詳細は後述する）に変換し、マニピュレータ４に出
力してマニピュレータ４及び手術器具の動作を制御す
る。The surgeon 2 inserts the manipulator 4 from the small opening of the patient 5 and refers to the image on the image display means 7 to operate the surgical instrument operating information 11 by the surgical instrument operating means 1 (see FIG. 2 for details). (Described later) is input to the surgical instrument control means 3. The surgical instrument control means 3 converts the input surgical instrument operation information 11 into surgical instrument control information 12 (see FIG. 2, the details of which will be described later), and outputs the information to the manipulator 4 to control the operations of the manipulator 4 and the surgical instrument. .
【００２２】図２により、手術支援装置の構成及び制御
作用を、さらに詳しく説明する。Referring to FIG. 2, the configuration and control operation of the surgery support apparatus will be described in more detail.
【００２３】手術支援装置は、マニピュレータ４及び手
術器具の両方を操作するための手術器具操作情報１１を
出力する手術器具操作手段１と、この手術器具操作情報
１１を基に、マニピュレータ４及び手術器具の両方を制
御するための手術器具制御情報１２を出力する手術器具
制御手段３と、手術器具の動作を計測して手術器具セン
サ情報１４を出力する手術器具センサ情報計測手段１５
と、手術器具制御情報１２と手術器具センサ情報１４と
から手術支援画像を作成する手術支援画像作成手段８
と、患部画像を撮像して画像情報１６を出力する患部画
像撮像手段６と、生体内部情報を計測して生体内部画像
情報１７または画像情報１６を出力する画像生体内部情
報計測手段１０と、入力されたいくつかの画像情報１６
を制御して制御画像情報１８を出力する画像制御手段９
と、制御画像情報１８を表示する画像表示手段７とを備
えている。The surgical support device comprises a surgical instrument operating means 1 for outputting surgical instrument operating information 11 for operating both the manipulator 4 and the surgical instrument, and the manipulator 4 and the surgical instrument based on the surgical instrument operating information 11. Surgical instrument control means 3 for outputting surgical instrument control information 12 for controlling both of them, and surgical instrument sensor information measuring means 15 for measuring the operation of the surgical instrument and outputting surgical instrument sensor information 14
And a surgical assistance image creating means 8 for creating a surgical assistance image from the surgical instrument control information 12 and the surgical instrument sensor information 14
An affected-part image capturing unit 6 that captures an affected-part image and outputs image information 16; an in-vivo information measuring unit 10 that measures in-vivo information and outputs in-vivo image information 17 or image information 16; Some image information 16
Control means 9 for controlling the control and outputting control image information 18
And image display means 7 for displaying control image information 18.
【００２４】さらに、個々の構成手段及び情報内容につ
いて説明する。患部画像撮像手段６は、内視鏡、電子顕
微鏡、ＣＣＤカメラまたはその他の画像撮像装置にて患
部の画像を撮像する手段である。画像表示手段７は、Ｃ
ＲＴ、ヘッド・マウント・ディスプレイまたはその他の
画像表示装置に画像情報を表示する手段、または患者上
に直接画像情報を表示する手段である。Further, individual components and information contents will be described. The affected part image capturing means 6 is a means for capturing an image of the affected part using an endoscope, an electron microscope, a CCD camera, or another image capturing device. The image display means 7
Means for displaying image information on an RT, head mounted display or other image display device, or means for displaying image information directly on the patient.
【００２５】手術支援画像作成手段８は、マニピュレー
タ４を制御する手術器具制御情報１２及び手術器具セン
サ情報１４が入力され、これら入力情報を数値と画像と
に変換して画像情報を出力する手段である。また、後述
する生体内部情報計測手段１０から生体内部画像情報１
７が入力され、重要臓器の画像、手術対象臓器の画像を
抽出してマーキングした画像情報１６を出力する手段で
ある。The surgical support image forming means 8 is a means for receiving the surgical instrument control information 12 and the surgical instrument sensor information 14 for controlling the manipulator 4, converting the input information into numerical values and images, and outputting image information. is there. Also, the in-vivo image information 1 is transmitted from the in-vivo information measurement unit 10 described later.
7 is a means for outputting image information 16 in which an image of an important organ and an image of an organ to be operated are extracted and marked.
【００２６】画像制御手段９は、入力された画像情報１
６から表示画像を抽出し大きさを加工した後に、位置整
合して合成する手段である。この際、患部画像撮像手段
６において撮像した患部の画像を隠さないように配慮さ
れ、患部画像以外の位置に画像情報を表示する。The image control means 9 receives the input image information 1
6 is a means for extracting a display image from No. 6, processing the size, and then performing position alignment and combining. At this time, care is taken not to hide the image of the affected part taken by the affected part image capturing means 6, and the image information is displayed at a position other than the affected part image.
【００２７】生体内部情報計測手段１０は、磁気共鳴診
断装置（ＭＲＩ）、Ｘ線コンピュ−タ断層撮影装置（Ｃ
Ｔ）画像、超音波画像、核医学診断装置（ＲＩ）または
その他の断層像を撮像する手段である。The in-vivo information measuring means 10 includes a magnetic resonance diagnostic apparatus (MRI), an X-ray computer tomography apparatus (C
T) means for capturing an image, an ultrasonic image, a nuclear medicine diagnostic apparatus (RI) or other tomographic images.
【００２８】手術支援画像を作成する際の入力情報の一
つであるマニピュレータ４を制御する手術器具制御情報
１２とは、マニピュレータ４の初期状態からの回転角度
変位、回転可能な角度、回転角度の限界時における警
告、初期状態からの関節の屈曲角度変位、関節の屈曲可
能な角度（関節で曲がる角度）、関節の屈曲角度の限界
時における警告、初期状態からの並進移動距離（先端方
向に進んだ距離）、マニピュレータ４同士の衝突時の警
告などの情報である。これらの画像情報１６を作成して
画像制御手段９に入力し、さらに制御画像情報１８を画
像表示手段７に入力して表示される。Surgical instrument control information 12 for controlling the manipulator 4, which is one of the input information when creating a surgical support image, includes the rotational angular displacement from the initial state of the manipulator 4, the rotatable angle, and the rotational angle. Warning at the limit, bending angle displacement of the joint from the initial state, bendable angle of the joint (angle at which the joint bends), warning at the limit of the bending angle of the joint, translation distance from the initial state (advance to the distal direction) Of the manipulators 4 and warnings when the manipulators 4 collide with each other. The image information 16 is created and input to the image control means 9, and the control image information 18 is input to the image display means 7 and displayed.
【００２９】手術支援画像を作成する際の入力情報の他
の一つである手術器具センサ情報１４とは、手術器具と
手術器具軸方向延長線上の患部との距離、手術器具先端
の接触、手術器具先端にかかる応力などの情報である。The surgical instrument sensor information 14 which is another input information for creating a surgical support image includes the distance between the surgical instrument and the affected part on the extension of the surgical instrument in the axial direction, the contact of the tip of the surgical instrument, the operation of the surgical instrument, and the like. Information such as stress applied to the tip of the instrument.
【００３０】図３は、マニピュレータの一実施例を示す
もので、マニピュレータ４は円筒状のガイドマニピュレ
ータ１９の中から突き出ており、手術を行うことが可能
な状態になっている。FIG. 3 shows an embodiment of the manipulator. The manipulator 4 protrudes from the cylindrical guide manipulator 19, and is in a state capable of performing an operation.
【００３１】図４は手術支援画像の一実施例を示すもの
で、先端が手術器具を操作可能な３本のマニピュレータ
４（４Ａ、４Ｂ、４Ｃ）を用いて手術を行っているとこ
ろを想定している。FIG. 4 shows an embodiment of a surgery support image, in which a surgical operation is performed using three manipulators 4 (4A, 4B, 4C) whose tips can operate a surgical instrument. ing.
【００３２】手術を支援するための画像を制御して表示
するため、手術支援画像作成手段８、患部画像撮像手段
６、生体内部情報計測手段１０、画像制御手段９、画像
表示手段７などが組み合わせて構成される。In order to control and display an image for assisting the operation, an operation assisting image creating means 8, an affected part image taking means 6, an in-vivo information measuring means 10, an image controlling means 9, an image displaying means 7 and the like are combined. It is composed.
【００３３】合成画像４０１は、ガイドマニピュレータ
１９に搭載されている患部画像撮像手段６で撮像された
内視鏡画像上に、手術支援画像作成手段８で作成された
情報を位置整合して重ね合わせている。このとき、位置
整合は手術器具制御手段３によって出力された手術器具
制御情報１２を参考にして行う。または、画像処理によ
って行う。生体内部情報計測手段１０で撮像された超音
波画像４０２などで患部の画像と重ね合わせた場合に見
にくくなる画像は、撮像した患部の画像を隠す範囲を最
小限に押さえ、術者２ができるだけ視線を動かさずに見
ることができる場所、たとえば左上部等の画面端に表示
する。同様の理由により、術野における手術器具の位置
を模式図で表したナビゲーション画像４０３は、たとえ
ば右上部等の画面端に表示する。ナビゲーション画像４
０３は、生体内部情報計測手段１０で撮像されたＭＲＩ
やＣＴ等の画像を基に、手術支援画像作成手段８で作成
される。超音波画像４０２やナビゲーション画像４０３
は、ウィンドウの大きさ、表示場所、表示、非表示を変
更可能にされている。The composite image 401 is superimposed on the endoscope image picked up by the affected part image pick-up means 6 mounted on the guide manipulator 19 by aligning the information generated by the surgical support image forming means 8 with the position alignment. ing. At this time, the position alignment is performed with reference to the surgical instrument control information 12 output by the surgical instrument control means 3. Alternatively, it is performed by image processing. Images that are difficult to see when superimposed on the image of the affected part, such as the ultrasonic image 402 captured by the in-vivo information measuring means 10, are minimized in a range in which the captured image of the affected part is hidden, and the operator 2 has a line of sight as much as possible. Is displayed at a place where the user can view the image without moving, for example, an upper left corner of the screen. For the same reason, the navigation image 403 schematically showing the position of the surgical instrument in the operation field is displayed on the screen edge such as the upper right part. Navigation image 4
03 is an MRI imaged by the in-vivo information measuring means 10
It is created by the surgery support image creating means 8 based on images such as CT and CT. Ultrasound image 402 and navigation image 403
Can change the size, display location, display and non-display of the window.
【００３４】図５で示す合成画像４０１は、手術支援画
像作成手段８で作成された画像を画像制御手段９で位置
整合して重ね合わせた一実施例を示したものである。す
なわち、臓器に関する手術支援画像４１３は、手術支援
画像作成手段８、生体内部情報計測手段１０、画像制御
手段９によって作成され、同様に、手術器具に関する手
術支援画像４１４は、手術支援画像作成手段８、画像制
御手段９によって作成され、また、患部画像４１５は、
患部画像撮像手段６、画像制御手段９によって作成さ
れ、それぞれ画像表示手段７に合成されて表示される。A composite image 401 shown in FIG. 5 shows an embodiment in which the images created by the operation support image creating means 8 are aligned and superimposed by the image control means 9. That is, the surgery support image 413 related to the organ is created by the surgery support image creation unit 8, the in-vivo information measurement unit 10, and the image control unit 9. Similarly, the surgery support image 414 related to the surgical instrument is created by the surgery support image creation unit 8. , Created by the image control means 9, and the affected part image 415 is
The images are created by the affected part image capturing means 6 and the image control means 9 and are combined and displayed on the image display means 7, respectively.
【００３５】図４で示す合成画像４０１のうち、４０
４、４０５、４１２は、臓器に関する画像であって図５
で示す手術支援画像４１３上の画像であり、臓器に関す
る手術支援画像の例を示すものである。それぞれ、生体
内部情報計測手段１０で得られた画像情報より重要臓器
４０４、手術対象臓器４０５を抽出してマーキングする
画像、手術器具の軸方向延長線上の脳表（脳表面）を起
点とした手術対象臓器４０５の方向を示すナビゲーショ
ン画像情報４１２を示している。In the composite image 401 shown in FIG.
4, 405 and 412 are images related to organs,
Is an image on the surgery support image 413 indicated by a circle, and shows an example of a surgery support image related to an organ. An image for extracting and marking the important organ 404 and the organ to be operated 405 from the image information obtained by the in-vivo information measuring means 10, and a surgery starting from the surface of the brain (brain surface) on the axial extension of the surgical instrument The navigation image information 412 indicating the direction of the target organ 405 is shown.
【００３６】手術器具に関する手術支援画像は、手術器
具センサ情報計測手段１５、手術支援画像作成手段８、
画像制御手段９、画像表示手段７、手術器具制御手段１
３によって作成される。合成画像４０１のうち、後述す
る４０６ないし４１１は、手術器具に関する画像であっ
て図５で示す手術支援画像４１４上の画像であり、手術
器具情報を表示する手術支援画像の一実施例を示すもの
である。The surgical support image relating to the surgical instrument includes a surgical instrument sensor information measuring unit 15, a surgical support image creating unit 8,
Image control means 9, image display means 7, surgical instrument control means 1
3 is created. Of the composite image 401, reference numerals 406 to 411, which will be described later, relate to surgical instruments, which are images on the surgical assistance image 414 shown in FIG. 5, and show an example of a surgical assistance image for displaying surgical instrument information. It is.
【００３７】手術器具に関する手術支援画像は、手術器
具制御情報１２、手術器具センサ情報１４を基に作成さ
れる。また、手術器具に関する手術支援画像は、患部の
画像を隠す範囲を最小限にし、術者がなるべく視線を動
かさずに手術できる位置に分かりやすく表示される。The surgical support image relating to the surgical instrument is created based on the surgical instrument control information 12 and the surgical instrument sensor information 14. Further, the surgery support image relating to the surgical instrument is displayed in a position where the surgeon can operate without moving his / her gaze as much as possible while minimizing the range of hiding the image of the affected part.
【００３８】以下に、それぞれの情報表示について説明
する。手術器具の物体に対する把持力は、把持力インジ
ケータ４０６に表示される。物体に接触したときに一つ
目のインジケータが緑に点灯し、把持力の強さに応じて
インジケータのレベルが上がり、把持可能な強さになっ
たときにインジケータ全体の色がに変わる。把持力イン
ジケータ４０６は、後述する回転角度表示や屈曲角度表
示に比べて必要頻度が低いのでマニピュレータ４（４
Ａ、４Ｂ、４Ｃ）の根元側に表示している。Hereinafter, each information display will be described. The gripping force of the surgical instrument on the object is displayed on a gripping force indicator 406. The first indicator lights up green when it comes into contact with the object, the level of the indicator increases according to the strength of the gripping force, and when the gripping strength is reached, the color of the entire indicator changes to. Since the gripping force indicator 406 is required less frequently than the rotation angle display and the bending angle display described below, the manipulator 4 (4
(A, 4B, 4C).
【００３９】手術器具の関節における屈曲角度は、マニ
ピュレータ４（４Ａ、４Ｂ、４Ｃ）の中央部に表示され
る。関節の屈曲角度は、屈曲角度表示４０７に示すよう
に、円内に矢印（マーク）で表示される。矢印の傾斜
が、屈曲の方向及び屈曲角度の度合いを示している。手
術器具の関節が曲がっていないときは、手術器具先端は
手術器具の延長方向に向いている。したがって、表示に
おいて関節の屈曲角度が０°（度）のときは、矢印の方
向は手術器具の延長方向に向いており、角度の増加に応
じて時計と反対方向に回転する。The bending angle at the joint of the surgical instrument is displayed at the center of the manipulator 4 (4A, 4B, 4C). The bending angle of the joint is indicated by an arrow (mark) in a circle as shown in the bending angle display 407. The inclination of the arrow indicates the direction of the bending and the degree of the bending angle. When the joint of the surgical instrument is not bent, the distal end of the surgical instrument faces the extension direction of the surgical instrument. Therefore, in the display, when the bending angle of the joint is 0 ° (degree), the direction of the arrow points in the extension direction of the surgical instrument, and rotates in a direction opposite to the clock as the angle increases.
【００４０】手術器具全体の回転方向は、回転角度表示
４０８に表示される。目盛は手術器具の回転に応じて回
転し、右ネジ方向に回転するときを正、逆方向に回転す
るときを負の数字で回転限界まで２０°ごとに表示され
る。回転角度数は目盛りの真ん中の数字を読む。回転角
度は必要頻度が高いため、術者２が視線を動かさずに見
えるように、また患部の画像を邪魔しないように手術器
具の先端側に表示される。The rotation direction of the entire surgical instrument is displayed on a rotation angle display 408. The scale rotates in accordance with the rotation of the surgical instrument, and is displayed as a positive number when rotating in the right-handed screw direction and a negative number when rotating in the reverse direction at every 20 ° up to the rotation limit. For the number of rotation angles, read the number in the middle of the scale. Since the rotation angle is frequently required, the rotation angle is displayed on the distal end side of the surgical instrument so that the operator 2 does not move his / her gaze and does not disturb the image of the affected part.
【００４１】手術器具の先端から手術器具延長方向の脳
表までの距離表示は、たとえば定規のような目盛の表示
方法では画面垂直方向の距離が分かりにくく、このため
関節を画面垂直方向に曲げているときには、距離を表示
することができない。また、角度によって目盛が重なっ
てしまう。そのため、手術器具が画面に対して所定以上
の角度で曲がっているときは、角度が変わってもそれに
応じて脳表との相対距離が表示できるように、第一距離
表示４０９（マニピュレータ４Ａ）のように所定距離毎
に半径の違う同心円で表示し、円の数で距離が分かるよ
うにする。このとき、×印で表す円の中心は手術器具の
延長方向であって、かつ脳表でもある。手術器具の画面
垂直方向に対する角度が所定以上のときには、定規のよ
うな目盛の振り方の方が分かりやすく、目盛同士が重な
ったりすることもないため、第二距離表示４１０（マニ
ピュレータ４Ｂ）のように端点を手術器具（４０６で示
す）の先端と手術器具延長方向の脳表に合わせて、所定
距離毎に手術器具の指す方向と垂直方向に目盛りを付し
て表す。このとき、手術器具の先端と重なる目盛りの始
点部分の長さを長くし、手術器具延長方向の脳表を×印
で表す。In the display of the distance from the tip of the surgical instrument to the surface of the brain in the direction in which the surgical instrument extends, the distance in the vertical direction of the screen is difficult to understand using a scale display method such as a ruler. The distance cannot be displayed. Also, the scales overlap depending on the angle. Therefore, when the surgical instrument is bent at an angle equal to or more than a predetermined angle with respect to the screen, the first distance display 409 (manipulator 4A) is displayed so that the relative distance to the brain surface can be displayed according to the angle. Thus, concentric circles having different radii for each predetermined distance are displayed so that the distance can be determined by the number of circles. At this time, the center of the circle represented by the cross is the extension direction of the surgical instrument and is also the surface of the brain. When the angle of the surgical instrument with respect to the vertical direction of the screen is equal to or larger than a predetermined value, it is easier to understand how to move the scale like a ruler, and the scales do not overlap each other. Therefore, as shown in the second distance display 410 (manipulator 4B). The end points are marked with a scale in a direction perpendicular to the direction of the surgical instrument at predetermined intervals according to the distal end of the surgical instrument (indicated by 406) and the brain surface in the extension direction of the surgical instrument. At this time, the length of the starting point of the scale overlapping the distal end of the surgical instrument is increased, and the brain surface in the direction in which the surgical instrument extends is indicated by a cross.
【００４２】回転角度、関節の屈曲角度、並進距離が限
界のとき、または他の手術器具との衝突の可能性がある
ときには、術者２が手術器具操作手段１に必要以上の力
を加えないように警告文字４１１の「首振限界！」（マ
ニピュレータ４Ａ）、または「並進限界！」（マニピュ
レータ４Ｃ）のように示される。When the rotation angle, the bending angle of the joint, the translation distance is limited, or there is a possibility of collision with another surgical instrument, the operator 2 does not apply excessive force to the surgical instrument operating means 1. Thus, the warning character 411 is displayed as “swing limit!” (Manipulator 4A) or “translation limit!” (Manipulator 4C).
【００４３】図６は、手術器具情報に関する手術支援画
像の他の実施例を、画像制御手段６によって他の画像情
報と位置整合して重ね合わせたもので、先端が手術器具
を操作可能な３本のマニピュレータを用いて手術を行な
っているところを想定している。FIG. 6 shows another embodiment of a surgical support image relating to surgical instrument information, which is superimposed on the other image information by the image control means 6 in a position-aligned manner. It is assumed that surgery is performed using a manipulator.
【００４４】手術器具情報は、マニピュレータの初期状
態からの回転角度変位、回転可能な角度、回転角度の限
界時における警告、初期状態からの関節の屈曲角度変
位、関節の屈曲可能な角度（関節で曲がる角度）、関節
の屈曲角度の限界時における警告、初期状態からの並進
移動距離（先端方向に進んだ距離）、マニピュレータ同
士の衝突時の警告などの手術器具制御情報１２と、手術
器具と手術器具軸方向延長線上の患部との距離、手術器
具先端の接触、手術器具先端にかかる応力などの手術器
具センサ情報１４が測定される。The surgical instrument information includes a rotational angle displacement from the initial state of the manipulator, a rotatable angle, a warning at the limit of the rotational angle, a flexion angle displacement of the joint from the initial state, and a flexible angle of the joint. Surgical instrument control information 12 such as a bend angle), a warning at the limit of the flexion angle of the joint, a translational movement distance from the initial state (a distance advanced in the distal direction), a warning at the time of collision between manipulators, and a surgical instrument and surgery. Surgical instrument sensor information 14, such as the distance to the affected part on the axial extension of the instrument, the contact of the distal end of the surgical instrument, and the stress applied to the distal end of the surgical instrument, is measured.
【００４５】把持力インジケータ４０６は、なるべく撮
像した患部の画像を隠さないようにマニピュレータの画
像上の根元側に、軸に対して垂直に表示する。また、把
持力インジケータ４０６は、手術器具が並進した（先端
方向に移動した）距離が分かるように、回転角度や屈曲
角度の表示が手術器具の移動に伴って移動するのに対し
て、固定した位置に表示する。手術器具の関節における
屈曲角度は、回転角度範囲５０１の把持力インジケータ
４０６に対する傾き（手術器具の根元の軸に対する傾
き）で表示する。常に回転角度範囲５０１の楕円短軸の
方向が先端方向を表しているように、屈曲角度が０°の
ときは回転角度範囲５０１の楕円短軸と把持力インジケ
ータ４０６の方向を同一とし、屈曲角度が９０°のとき
は回転角度範囲５０１の楕円長軸と把持力インジケータ
４０６の方向とを同一とする。The gripping force indicator 406 is displayed perpendicular to the axis on the base side of the image of the manipulator so as not to hide the image of the affected part as much as possible. The gripping force indicator 406 is fixed while the display of the rotation angle and the bending angle moves with the movement of the surgical instrument so that the distance that the surgical instrument has been translated (moved in the distal direction) can be known. Display at position. The bending angle of the joint of the surgical instrument is displayed as the inclination of the rotation angle range 501 with respect to the gripping force indicator 406 (the inclination with respect to the axis at the base of the surgical instrument). When the bending angle is 0 °, the direction of the elliptical minor axis of the rotation angle range 501 and the direction of the gripping force indicator 406 are the same, so that the direction of the elliptical minor axis of the rotation angle range 501 always indicates the tip direction. Is 90 °, the major axis of the ellipse in the rotation angle range 501 and the direction of the gripping force indicator 406 are the same.
【００４６】手術器具の回転可能範囲は、回転角度範囲
５０１に表示する。回転角度範囲５０１は常に手術器具
先端側（付近）に表示し、初期状態において楕円短軸方
向かつ画像中心方向の楕円状の点を０°とし、左右回転
可能範囲を色で塗り分けて表示する。図の右側の手術器
具は±４５°回転可能な場合を想定している。回転角度
の限界にきた時には、塗り分けた色を初期状態とは別の
色に変化する。また、回転角度を回転角度範囲５０１上
に矢印５０２にて表示する。この表示により、術者は回
転限界までの余裕が一目で分かる。The rotatable range of the surgical instrument is displayed in a rotation angle range 501. The rotation angle range 501 is always displayed on the tip side (near) of the surgical instrument, and in the initial state, the elliptical point in the direction of the ellipse short axis and the center of the image is set to 0 °, and the left and right rotatable range is displayed in different colors. . It is assumed that the surgical instrument on the right side of the figure can rotate ± 45 °. When the rotation angle reaches its limit, the painted color changes to a color different from the initial state. Further, the rotation angle is displayed on the rotation angle range 501 by an arrow 502. This display allows the operator to see at a glance the margin to the rotation limit.
【００４７】並進移動した距離は、常に先端部位に表示
している回転角度範囲５０１と画像端固定部位に表示し
ている把持力インジケータ４０６との間の距離によって
表示する。The translated distance is indicated by the distance between the rotation angle range 501 always displayed at the leading end portion and the gripping force indicator 406 displayed at the image end fixed portion.
【００４８】手術器具に関する手術支援画像は、術野の
画像を妨げないためになるべく手術器具の画像上、また
は内視鏡画像外のモニタ上に表示する。The operation support image relating to the surgical instrument is displayed on the image of the surgical instrument as much as possible so as not to obstruct the image of the surgical field or on a monitor outside the endoscope image.
【００４９】図７は、手術器具情報に関する手術支援画
像のさらに他の実施例を、画像制御手段９で他の画像情
報と位置整合して重ね合わせたもので、先端が手術器具
を操作可能な３本のマニピュレータを用いて手術を行っ
ているところを想定している。手術器具センサ情報１４
は、撮像した患部の画像を隠さないように、内視鏡画像
外に表示される。ここでは、手術器具センサ情報１４か
ら選択したいくつかのセンサに関して、簡単に表示でき
る形態で内視鏡画像外に表示している。FIG. 7 shows another embodiment of a surgical assistance image relating to surgical instrument information, which is superimposed on the other image information by the image control means 9 so that the surgical instrument can be operated at the tip. It is assumed that an operation is performed using three manipulators. Surgical instrument sensor information 14
Is displayed outside the endoscope image so as not to hide the captured image of the affected part. Here, some sensors selected from the surgical instrument sensor information 14 are displayed outside the endoscope image in a form that can be easily displayed.
【００５０】以下図８、図９を参照して本発明の第二の
実施例を説明する。図８は、手術支援装置の他の実施例
を示す図である。図９は図８にて示した手術支援装置の
他の実施例に対応した構成図である。図８、図９では、
術者が手術器具情報計測機能を持つ手術器具６０１を使
用して手術を行う場合を想定している。Hereinafter, a second embodiment of the present invention will be described with reference to FIGS. FIG. 8 is a diagram showing another embodiment of the surgery support device. FIG. 9 is a configuration diagram corresponding to another embodiment of the surgery support device shown in FIG. 8 and 9,
It is assumed that a surgeon performs a surgery using a surgical instrument 601 having a surgical instrument information measurement function.
【００５１】手術は、手術器具センサ情報計測手段１
５、手術支援画像作成手段８、患部画像撮像手段６、生
体内部情報計測手段１０、画像制御手段９、画像表示手
段７を使用して行う。In the operation, the surgical instrument sensor information measuring means 1
5. Surgery support image creating means 8, affected part image capturing means 6, in-vivo information measuring means 10, image control means 9, and image display means 7.
【００５２】術者２は、患者５に小さな開口部から患部
画像撮像手段６と手術器具情報計測機能を持つ手術器具
６０１とを挿入し、画像表示手段７の画像を参考にして
手術を行う。The surgeon 2 inserts the affected part image capturing means 6 and the surgical instrument 601 having a surgical instrument information measuring function into the patient 5 from a small opening, and performs an operation with reference to the image on the image display means 7.
【００５３】手術器具情報計測機能を持つ手術器具６０
１を使用して手術を行う場合の手術支援画像は、マニピ
ュレータ４を使用して手術を行う場合と同様の画像を使
用することが可能である。ただし、手術器具６０１に関
する手術支援画像において、関節の屈曲角度表示４０
７、回転角度表示４０８、または同等のマニピュレータ
特有の動きに関する情報を除く。Surgical instrument 60 having surgical instrument information measurement function
As an operation assisting image in the case of performing an operation using the operation number 1, the same image as in the case of performing an operation using the manipulator 4 can be used. However, in the surgical assistance image related to the surgical instrument 601, the joint bending angle display 40
7, Excludes information about rotation angle display 408 or equivalent manipulator-specific movement.
【００５４】以上説明したように、本実施例によれば以
下の効果が得られる。第一に、手術器具の可動範囲に関
する情報を明示することによって術者が手術器具の可動
限界が分かるようにし、これによって術中の精神的安定
が得られる。第二に、操作限界を明示することにより、
術者が操作限界を超える力を入力して支援装置を破壊す
ることから防止できる。第三に、手術器具の動作方向を
明示することで、手術器具の誤った操作をすることを防
止できる。第四に、術者が操作限界を把握することで接
近方法及び手術器具の選択を誤ることを防止できる。As described above, according to the present embodiment, the following effects can be obtained. First, by providing information about the range of movement of the surgical instrument, the surgeon can know the limit of movement of the surgical instrument, thereby providing intraoperative mental stability. Second, by specifying the operating limits,
It is possible to prevent the surgeon from inputting a force exceeding the operation limit and destroying the support device. Third, erroneous operation of the surgical instrument can be prevented by clearly indicating the operation direction of the surgical instrument. Fourth, it is possible to prevent the operator from erroneously selecting an approach method and a surgical instrument by grasping the operation limit.
【００５５】[0055]
【発明の効果】以上説明したように、本発明によれば、
手術器具の可動範囲に関する情報を明示することによっ
て術者が手術器具の可動限界が分かるようにし、これに
よって術中の精神的安定が得られる。また、操作限界を
明示することにより、術者が操作限界を超える力を入力
して支援装置を破壊することから防止できる。さらにま
た、手術器具の動作方向を明示することで、手術器具の
誤った操作をすることを防止できる。さらにまた、術者
が操作限界を把握することで接近方法及び手術器具の選
択を誤ることを防止できる。As described above, according to the present invention,
Providing information about the range of movement of the surgical instrument allows the surgeon to know the limit of movement of the surgical instrument, thereby providing intraoperative mental stability. In addition, by specifying the operation limit, it is possible to prevent the surgeon from inputting a force exceeding the operation limit and destroying the support device. Further, by clearly indicating the operation direction of the surgical instrument, it is possible to prevent an erroneous operation of the surgical instrument. Furthermore, by grasping the operation limit by the operator, it is possible to prevent an erroneous selection of an approach method and a surgical instrument.
【図１】本発明の手術支援装置に係る第一の実施例の使
用時の説明図である。。FIG. 1 is an explanatory diagram of a first embodiment of the operation support apparatus according to the present invention at the time of use. .
【図２】図１の実施例の構成及び制御作用の説明図であ
る。FIG. 2 is an explanatory diagram of a configuration and a control operation of the embodiment of FIG. 1;
【図３】ガイドマニピュレータの構造図である。FIG. 3 is a structural diagram of a guide manipulator.
【図４】手術支援画像の一実施例を示す図である。FIG. 4 is a diagram showing one embodiment of a surgery support image.
【図５】手術支援画像の画像合成を示す図である。。FIG. 5 is a diagram illustrating image synthesis of a surgery support image. .
【図６】手術支援画像の他の実施例を、画像情報と位置
整合して重ね合わせたものである。FIG. 6 shows another example of the operation support image, which is superimposed on the image information while being aligned.
【図７】手術支援画像のさらに他の実施例を、画像情報
と位置整合して重ね合わせたもので。FIG. 7 shows still another example of the surgery support image, which is superimposed on the image information while being aligned.
【図８】本発明の手術支援装置に係る第二の実施例の使
用時の説明図である。FIG. 8 is an explanatory diagram of the operation supporting apparatus according to the second embodiment of the present invention at the time of use.
【図９】図８の実施例の構成及び制御作用の説明図であ
る。FIG. 9 is an explanatory diagram of a configuration and a control operation of the embodiment of FIG. 8;
１…手術器具操作手段 ２…術者 ３…手術器具制御手段 ４…マニピュレータ ５…患者 ６…患部画像撮像手段 ７…画像表示手段 ８…手術支援画像作成手段 ９…画像制御手段 １０…生体内部情報計測手段 １１…手術器具操作情報 １２…手術器具制御情報 １４…手術器具センサ情報 １５…手術器具センサ情報計測手段 １６…画像情報 １７…生体内部画像情報 １８…制御画像情報 １９…ガイドマニピュレータ ４０１…合成画像 ４０２…超音波画像 ４０３…ナビゲーション画像 ４０４…重要臓器 ４０５…手術対象臓器 ４０６…把持力インジケータ ４０７…関節の屈曲角度表示 ４０８…回転角度表示 ４０９…第一距離表示 ４１０…第二距離表示 ４１１…警告文字 ４１２…ナビゲーション画像情報 ４１３…臓器に関する手術支援画像 ４１４…手術器具に関する手術支援画像 ４１５…患部画像 ４１６…手術器具 ５０１…回転角度範囲 ６０１…手術器具の情報計測機能を持つ手術器具 DESCRIPTION OF SYMBOLS 1 ... Surgical instrument operation means 2 ... Surgeon 3 ... Surgical instrument control means 4 ... Manipulator 5 ... Patient 6 ... Affected part image imaging means 7 ... Image display means 8 ... Surgery support image creation means 9 ... Image control means 10 ... Biological information Measuring means 11 ... Surgical instrument operation information 12 ... Surgical instrument control information 14 ... Surgical instrument sensor information 15 ... Surgical instrument sensor information measuring means 16 ... Image information 17 ... In-vivo image information 18 ... Control image information 19 ... Guide manipulator 401 ... Synthesis Image 402 ... Ultrasound image 403 ... Navigation image 404 ... Important organ 405 ... Surgery organ 406 ... Grasping force indicator 407 ... Joint bending angle display 408 ... Rotation angle display 409 ... First distance display 410 ... Second distance display 411 ... Warning character 412 ... Navigation image information 413 ... Surgery support image 41 related to organs 4: Surgical support image related to surgical instrument 415: Affected part image 416: Surgical instrument 501: Rotation angle range 601: Surgical instrument having information measuring function of surgical instrument
───────────────────────────────────────────────────── フロントページの続き (72)発明者 菅 和俊 茨城県土浦市神立町502番地 株式会社日 立製作所機械研究所内 Ｆターム(参考） 3F059 AA10 BA08 CA08 DA05 DA09 DB01 DB09 DE06 EA01 EA06 FA03 FB22 FC13 FC14 4C061 JJ11 JJ17 JJ19 WW04 WW10 5C054 CC02 CF05 CG08 FA09 FE11 HA12 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Kazutoshi Suga 502 Kandachi-cho, Tsuchiura-shi, Ibaraki F-term in Machinery Research Laboratory, Hitachi Ltd. 4C061 JJ11 JJ17 JJ19 WW04 WW10 5C054 CC02 CF05 CG08 FA09 FE11 HA12
Claims (12)
して手術を行う際に手術を支援する手術支援装置におい
て、 前記手術器具を操作可能なマニピュレータと、 このマニピュレータを制御する手術器具操作手段と、 前記手術器具に設置したセンサからの情報を計測する手
術器具センサ情報計測手段と、 計測されたセンサ情報を基に、手術支援画像を作成する
手術支援画像作成手段と、 患部画像撮像手段と、 各画像を制御して合成する画像制御手段と、 制御された画像を表示する画像表示手段とを有し、 前記手術支援画像は、手術器具と手術器具を操作可能な
マニピュレータの可動範囲を示すことを特徴とする手術
支援装置。1. A surgical support apparatus comprising a surgical instrument and assisting a surgical operation when performing an operation with reference to an image of an affected part, comprising: a manipulator capable of operating the surgical instrument; and a surgical instrument operating means for controlling the manipulator. A surgical instrument sensor information measuring means for measuring information from a sensor installed on the surgical instrument, a surgical assistance image creating means for creating a surgical assistance image based on the measured sensor information, an affected part image capturing means, Image control means for controlling and synthesizing each image, and image display means for displaying a controlled image, wherein the surgery support image indicates a movable range of a surgical instrument and a manipulator capable of operating the surgical instrument. A surgery support device characterized by the above-mentioned.
タは、先端が手術器具の形状をしているマニピュレータ
であることを特徴とする請求項１に記載の手術支援装
置。2. The surgery support apparatus according to claim 1, wherein the manipulator capable of operating the surgical instrument is a manipulator having a tip shaped like a surgical instrument.
タは、先端で手術器具を把持可能なマニピュレータであ
ることを特徴とする請求項１に記載の手術支援装置。3. The surgery support apparatus according to claim 1, wherein the manipulator capable of operating the surgical instrument is a manipulator capable of gripping the surgical instrument at a tip.
具を操作可能なマニピュレータが限界のときに限界を表
示することを特徴とする請求項１に記載の手術支援装
置。4. The surgery support apparatus according to claim 1, wherein the surgery support image displays a limit when a surgical instrument and a manipulator capable of operating the surgical instrument are at a limit.
作情報は、撮像された患部画像における手術器具の画像
上に重ねて表示することを特徴とする請求項１に記載の
手術支援装置。5. The operation support apparatus according to claim 1, wherein the operation information of the operation tool in the operation support image is displayed so as to be superimposed on an image of the operation tool in the captured diseased part image.
作情報は、手術対象の画像を避けて表示することを特徴
とする請求項１に記載の手術支援装置。6. The surgery support apparatus according to claim 1, wherein the operation information of the surgical instrument in the surgery support image is displayed while avoiding an image of a surgical target.
術対象までの相対距離の情報は、手術器具の動きに応じ
て表示方法を変化させることを特徴とする請求項１に記
載の手術支援装置。7. The surgery support apparatus according to claim 1, wherein the information on the relative distance between the surgical tool and the surgical target in the surgery support image changes a display method according to the movement of the surgical tool.
マニピュレータ画像に重ねてインジケータで表示するこ
とを特徴とする請求項５に記載の手術支援装置。8. The gripping force of the surgical instrument on an object,
The surgery support device according to claim 5, wherein the indicator is displayed by being superimposed on the manipulator image.
は、マニピュレータ画像に重ねてマークで表示し、手術
器具の関節が曲がっていないときは、手術器具先端は手
術器具の延長方向に向き、角度の増加に応じて回転させ
ることを特徴とする請求項５に記載の手術支援装置。9. The bending angle of the joint of the surgical instrument is indicated by a mark superimposed on the manipulator image, and when the joint of the surgical instrument is not bent, the distal end of the surgical instrument is directed in the extension direction of the surgical instrument, The surgery support apparatus according to claim 5, wherein the apparatus is rotated in accordance with the increase.
角度表示でマニピュレータ画像に重ねて表示し、目盛は
手術器具の回転に応じて回転させることを特徴とする請
求項３に記載の手術支援装置。10. The surgery support according to claim 3, wherein the rotation direction of the entire surgical instrument is displayed by being superimposed on a manipulator image by a rotation angle display, and the scale is rotated according to the rotation of the surgical instrument. apparatus.
方向の脳表までの距離表示は、手術器具が画面に対して
所定以上の角度で曲がっているときは、所定距離毎に半
径の違う同心円で表示し、円の数で距離が分かるように
することを特徴とする請求項５に記載の手術支援装置。11. The distance display from the distal end of the surgical instrument to the surface of the brain in the direction in which the surgical instrument extends is a concentric circle having a different radius for each predetermined distance when the surgical instrument is bent at a predetermined angle or more with respect to the screen. The surgery support device according to claim 5, wherein the distance is displayed by the number of circles so that the distance can be understood.
角度が所定以上のときには、端点を手術器具の先端と手
術器具延長方向の脳表に合わせて、所定距離毎に手術器
具の指す方向と垂直方向に目盛りを付して表示すること
を特徴とする請求項５に記載の手術支援装置。12. When the angle of the surgical instrument with respect to the screen vertical direction is equal to or greater than a predetermined value, the end point is aligned with the distal end of the surgical instrument and the brain surface in the direction in which the surgical instrument extends in a direction perpendicular to the direction indicated by the surgical instrument at predetermined intervals. The surgery support device according to claim 5, wherein a scale is displayed on the display.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP28698299A JP2001104333A (en) | 1999-10-07 | 1999-10-07 | Surgery support device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP28698299A JP2001104333A (en) | 1999-10-07 | 1999-10-07 | Surgery support device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JP2001104333A true JP2001104333A (en) | 2001-04-17 |
Family
ID=17711495
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP28698299A Pending JP2001104333A (en) | 1999-10-07 | 1999-10-07 | Surgery support device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2001104333A (en) |
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