JP2005124773A - Indicator for three-dimensional position detection - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To indicate a lesion by an indicator for three-dimensional position detection without contacting. <P>SOLUTION: In the indicator for the three-dimensional position detection attached to the tip of a multi-joint arm (2) of a three-dimensional position detector, a plurality of laser beams (10a and 10b) are emitted from the head part (9) of the indicator (3) so as to cross at the front of the head part (9) and a target or a virtual tip is captured by the intersection (10c). Thus, the lesion or the virtual tip can be searched without contacting a patient (A), it is safe, the patient is not invaded, and the indicator is not easily contaminated and is kept clean even when it is repeatedly used. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a three-dimensional position detection indicator attached to the tip of an articulated arm of a three-dimensional position detection device.

  A three-dimensional position detection device is used as a support device for surgical operation, diagnostic treatment, and the like. This three-dimensional position detection device displays an image of an affected area obtained in advance by CT, MRI, etc. on a display, points directly to the target of the affected area at the tip of the probe attached to the articulated arm, or expands and contracts the probe. The virtual tip is pointed to and the corresponding point at the tip of the probe is displayed on the display image of the display with a cursor or the like (for example, see Patent Documents 1, 2, 3, and 4).

  For example, when performing surgery to remove the tumor in the skull, the operator inserts the probe into the skull from the open head and looks inside the skull with a microscope placed near the open head, and the image on the display and the cursor on the image Thus, the position of the affected part can be confirmed while alternately comparing the inside of the field of view of the microscope and the image on the display (see, for example, Patent Documents 1, 3, and 4). When determining the craniotomy position, the surgeon applies the probe to the head surface and contracts the probe by the distance between the lesion projected on the image on the display and the cursor. On the other hand, on the image, a cursor is displayed at a virtual point far from this distance, whereby the route from the body surface to the lesion can be examined before craniotomy and an appropriate craniotomy position can be determined (for example, see Patent Document 2). ).

JP-A-62-327 JP-A-3-284252 JP-A-3-284253 JP 7-27515 A

  However, since the conventional indicator is designed to search the affected part or virtual tip with a probe made of a metal wire, tube, or the like, it tends to invade the patient (adverse effects on human tissue). In addition, since the indicator is relatively bulky, the operation of the indicator is more troublesome when the space around the affected area is narrowed as in the operation using a microscope or the like. Further, when the indicator is used repeatedly, there is a problem that the probe or the like is easily contaminated.

  Accordingly, an object of the present invention is to provide a three-dimensional position detection indicator that can eliminate the above-mentioned problems.

  In order to solve the above-mentioned problem, the invention according to claim 1 is directed to a three-dimensional position detection indicator attached to the tip of an articulated arm (2) of a three-dimensional position detection device. 9) A plurality of laser beams (10a, 10b) are emitted so as to intersect in front of the head portion (9), and the target or virtual tip is captured at the intersection (10c). Adopt a vessel.

  According to a second aspect of the present invention, in the three-dimensional position detection indicator (3) according to the first aspect, at least two laser beams (10a, 10b) have different wavelengths from each other. Adopt indicator.

  The invention according to claim 3 is the three-dimensional position detection indicator (3) according to claim 1 or 2, wherein at least one laser beam (10a or 10b) blinks. Adopt indicator.

  According to a fourth aspect of the present invention, in the three-dimensional position detection indicator (3) according to any one of the first to third aspects, at least one laser beam (10a or 10b) is transmitted to the head portion ( The indicator for 3D position detection emitted on the axis of 9) is adopted.

  According to the first aspect of the invention, in the three-dimensional position detection indicator attached to the tip of the articulated arm (2) of the three-dimensional position detection device, a plurality of indicators are provided from the head (9) of the indicator (3). Laser beam (10a, 10b) is emitted so as to cross the front of the head portion (9), and the target or virtual tip is captured at the intersection (10c). The affected part or virtual tip can be searched by contact, is safe, does not invade the patient, and can be kept clean with little contamination even after repeated use. In addition, the indicator (3) is smaller and lighter than those provided with a conventional metal probe, and can be easily used even in a narrow space such as a brain surgery using a microscope (14) or the like. it can.

  According to the invention according to claim 2, in the three-dimensional position detection indicator (3) according to claim 1, since the wavelengths of at least two laser beams (10a, 10b) are different from each other, Laser beams (10a, 10b) are different in color from each other, making it easy to visually recognize the intersection (10c).

  According to the invention according to claim 3, in the three-dimensional position detection indicator (3) according to claim 1 or 2, at least one laser beam (10a or 10b) blinks. (10c) will also blink, making it easier to visually recognize the intersection.

  According to a fourth aspect of the present invention, in the three-dimensional position detection indicator (3) according to any one of the first to third aspects, at least one laser beam (10a or 10b) is transmitted to the head portion ( Since it is emitted on the axis 9), it is easy to aim the intersection (10c).

  The best mode for carrying out the invention will be described below with reference to the drawings.

  As shown in FIG. 1, the three-dimensional position detection apparatus includes a table 1 on which a patient is placed, a multi-joint arm 2 installed near the table 1, and a three-dimensional position detection indicator 3 attached to the tip of the multi-joint arm 2. Computer 4, display 5, keyboard 6 and the like.

  The patient A is imaged in advance by CT, MRI or the like, and an image of the affected area is input to the computer 4 as a tomographic image. For example, if the affected part is the head A1, the image is imaged so that three markers are marked around the head A1 with a marker (not shown) and these three points are shown in the same cross section. The image is taken for one or a plurality of cross sections, and is input to the computer 4 as image information. One or a plurality of images 7 are displayed on the display 5, and the surgeon uses the images 7 on the display 5 as a human body map.

  The multi-joint arm 2 is formed by connecting a plurality of arms 2a in series via a plurality of joints 2b. The start end arm 2a is connected to the base 2c, and an indicator is provided at the end of the end arm 2a. 3 are connected via a joint 2b. Each joint 2b includes, for example, an encoder (not shown), and each encoder outputs a rotation angle. Other sensors such as a potentiometer may be used instead of the encoder. The computer 4 calculates the indicated position of the indicator 3 from the information from the encoder, the length of each arm 2a, etc., and outputs it to the display 5. The display 5 displays the indicated position on the image 7 as dots, arrows, crosshairs, etc. Displayed as cursor 8.

  As shown in FIG. 3, the three-dimensional position detection indicator 3 emits a plurality of laser beams 10a and 10b from the head portion 9 so as to cross in front of the head portion 9, and at the intersection 10c the target or The virtual tip is captured.

  Two laser beam transmitters 11 and 12 and a handle 9a gripped by the operator are attached to the head portion 9. A handle 9a is connected to the terminal arm 2a via a joint 2b. The two laser beam transmitters 11 and 12 are fixed to the head unit 9 so that the laser beams 10 a and 10 b emitted from the laser beam transmitters 11 and 12 intersect at one point in front of the head unit 9. When the intersection 10c of the laser beams 10a and 10b matches the target, this intersection 10c appears as a visible spot. In this embodiment, only two laser beam transmitters 11 and 12 are provided, but three or more laser beams may be crossed at one point by adding.

  The laser beams emitted from a plurality of laser beam transmitters can have the same wavelength, but the wavelengths of at least two laser beams may be different from each other. In this way, the two laser beams are different from each other, for example, red and green, so that the surgeon can easily follow the locus of the laser beam with the naked eye and easily match the intersection on the target. Further, at least one laser beam may be blinked. In this way, the intersection will blink, making it easier for the surgeon to follow the laser beam trajectory and visually recognize the intersection, making it easier to match the intersection on the target. Furthermore, if necessary, the thicknesses of the laser beams may be different from each other.

  As shown in FIG. 3, a single laser beam transmitter 11 is attached to the head unit 9 so that the optical axis of the emitted laser beam 10a coincides with the axis of the head unit 9, and this laser beam transmitter Another laser beam transmitter 12 is connected to the head portion 9 by a connector 13 so as to be slightly away from 11. In this way, by emitting at least one laser beam 10a on the axial center of the head portion 9, the operator can easily aim the intersection point 10c and easily match the intersection point 10c on the target. Of course, the plurality of laser beam transmitters 11 and 12 can be symmetrically arranged on the head unit 9 with the axis of the head unit 9 as the axis of symmetry.

  The intersection 10c of the laser beams 10a and 10b can be a fixed point, but the position can preferably be changed. The intersection point 10c can be changed by changing the position and posture of the laser beam transmitters 11 and 12, or by using a mirror, a prism, or the like. Changing the positions and postures of the laser beam transmitters 11 and 12 can be achieved by configuring the connecting tool 13 as a position adjusting tool. For example, the coupler 13 is configured as a screw device, and the relative position between the laser beam transmitters 11 and 12 is changed by turning the screw so that the intersection 10c of the laser beams 10a and 10b approaches or moves away from the head unit 9. can do.

  Next, the operation of the indicator of the three-dimensional position detection device will be described.

  The three-dimensional position detection device can be used as a navigator for brain surgery, for example, and when performing the operation of extracting a lesion such as a tumor or a brain arteriovenous malformation, the degree of removal of the tumor or the like is confirmed by the three-dimensional position detection device. Will be described.

  Prior to the operation, a tomographic image is taken of the head A1 of the patient A by CT, MRT or the like. Specifically, the head A1 of the patient A is marked over the three points with a marker, and a tomographic image is taken so that the three points appear on the same cross section.

  The tomographic image is input as image information to the computer 4 of the three-dimensional position detection apparatus, and is output on the display 5 and displayed as a map of the head A1 during surgery as shown in FIG. On the image 7 of the display 5, the tumor B is clearly displayed by known image processing or the like. In the illustrated example, only one image 7 is displayed on the display 5, but a plurality of images may be displayed side by side or may be displayed three-dimensionally.

  The surgeon emits the laser beams 10a and 10b from the indicator 3 attached to the tip of the articulated arm 2, and inputs the intersection distance, which is the distance from the predetermined position to the intersection 10c of the laser beams 10a and 10b, to the computer 4. To do.

  When the surgeon moves the indicator 3 while holding the handle 9a of the indicator 3, the articulated arm 2 is flexed freely following this movement. The computer 4 calculates based on the length of the arm 2a input in advance, the rotation angle output from the encoder of each joint 2b, and the like, and the indication position that is the intersection 10c of the laser beams 10a and 10b is displayed on the display 5 with the cursor 8 Display as.

  Subsequently, the surgeon points each mark displayed by the marker on the head A1 of the patient A at the intersection 10c of the laser beams 10a and 10b emitted from the indicator 3, and inputs the position of each mark to the computer 4. As a result, the position indicated by the indicator 3 and the position on the map, which is the image 7 displayed on the display 5, coincide with each other, and a navigation operation during the operation is possible.

  The surgeon performs the following operation to determine the craniotomy position.

  The operator holds the handle 9a of the indicator 3 and applies the intersection 10c of the laser beams 10a and 10b to the surface of the head A1 of the patient A, displays the cursor 8 on the image 7 on the display 5, and the tumor 8 Measure the depth to B. Then, the depth is input to the computer 4, and the indicator 3 is adjusted to match the intersection 10c of the laser beams 10a and 190b with a new intersection distance obtained by subtracting the depth from the intersection distance.

  When the operator operates the indicator 3 so that the intersection 10c of the laser beams 10a and 10b is reflected on the surface of the head A1 of the patient A, the virtual point that has entered the body by the above depth on the image 7 of the display 5 is displayed. A cursor 8 is displayed.

  As a result, the path from the surface of the head A1 to the tumor B is examined three-dimensionally before craniotomy, and an appropriate craniotomy position is determined.

  When the craniotomy position is determined, the operator makes a hole C in the head A1 of the patient A, and removes the tumor B with forceps or the like while looking inside the head A1 with the microscope 14 as shown in FIG. However, since the tumor B is difficult to discriminate with the microscope 14 or the naked eye, it is easily left behind.

  Therefore, as shown in FIG. 2, the operator closes the indicator 3 toward the head A1, and irradiates laser light 10a, 10b emitted from the indicator 3 into the skull from the hole C of the head A1, thereby removing the tumor B. The inner surface of the back cavity is indicated by its intersection. In that case, the indicator 3 is readjusted to return the intersection distance to the original intersection distance.

  On the image 7 of the display 5, the cursor 8 displays the remaining B1 of the tumor B depending on its position. The operator looks at the remaining B1 of the tumor B shown on the image 7, and again looks inside the head A1 with the microscope 14 and removes the remaining B1 of the tumor B with forceps or the like.

  The surgeon points the position of the tumor B with the indicator 3 at the intersection 10c of the laser beams 10a and 10b, checks the left B1 of the tumor B on the image 7, and looks into the skull with the microscope 14 to observe the tumor. The operation of removing B left B1 is repeated.

  Thus, the tumor B is completely removed, the hole C of the head A1 is closed, and the removal operation of the tumor B is completed.

  In addition, this invention is not limited to the said embodiment, For example, although the said embodiment demonstrated the treatment of a patient's head, it is applicable also to the treatment of another site | part.

It is the schematic of the three-dimensional position detection apparatus using the indicator for three-dimensional position detection which concerns on this invention. It is the schematic which shows the usage example of the indicator for a three-dimensional position detection. It is a perspective view which shows an example of the indicator for a three-dimensional position detection.

Explanation of symbols

2 ... Articulated arm 3 ... Indicator 9 ... Head part 10a, 10b ... Laser beam 10c ... Intersection

Claims (4)

  In a 3D position detection indicator attached to the tip of an articulated arm of a 3D position detection device, a plurality of laser beams are emitted from the head portion of the indicator so as to intersect in front of the head portion, and at the intersection. A three-dimensional position detection indicator characterized by capturing a target or a virtual tip.   The three-dimensional position detection indicator according to claim 1, wherein the wavelengths of at least two laser beams are different from each other.   3. The three-dimensional position detection indicator according to claim 1, wherein at least one laser beam blinks.   The three-dimensional position detection indicator according to any one of claims 1 to 3, wherein at least one laser beam is emitted on the axis of the head portion. vessel.

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