JP2005334650A - エンド・エフェクタを被検者の体内の目標位置まで案内するシステム、方法並びに製造物品 - Google Patents
エンド・エフェクタを被検者の体内の目標位置まで案内するシステム、方法並びに製造物品 Download PDFInfo
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- 239000012636 effector Substances 0.000 title claims abstract description 164
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- 238000002591 computed tomography Methods 0.000 claims description 34
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- A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
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Abstract
【解決手段】被検者が所定の呼吸状態を有するときの被検者の体内の解剖学的構造の複数のディジタル画像(210、214)を形成し、これらディジタル画像の少なくとも1枚で皮膚挿入位置(212)を指示する。方法はさらに、ディジタル画像の少なくとも1枚で目標位置(216)を指示し、皮膚挿入位置(212)及び目標位置(216)に基づいて軌跡経路を決定する。最後に、被検者が所定の呼吸状態を実質的に有するときにエンド・エフェクタ(26)を軌跡経路に沿って目標位置(216)に向かって移動させる。
【選択図】 図1
Description
12 エンド・エフェクタ配置システム
14 施術用テーブル
24 ロボット式エンド・エフェクタ配置装置
25 直線配置装置
26 エンド・エフェクタ
28 受動式アーム
30 頭上支持部
32 レール支持部
34 結合ブラケット
36 赤外線式呼吸測定装置
38 位置反射体
62、64、72 ハウジング部
68 基準部材
69 エンド・エフェクタ配置装置の回転運動の方向(図4)
69 駆動側端部(図5)
70 エンド・エフェクタ駆動器
74、84 リム付き内孔
76 入力シャフト
78 軸方向取付け套管
80 O字管
82 ナット
86、88 接触面
90 フィレット
110、112 アーム部
114 締付け部
116、118、120 玉継手
122、124 支持部
130 赤外線送信器
132 赤外線検出器
133 スタンド
135 胸部位置信号(呼吸信号)
137 ゲート信号
140 開口
160 台
162 垂直支持部材
164 固定式テーブル・トップ部
166 可動式テーブル・トップ部
180 コンピュータ・ウィンドウ
190、192、194、196、214、234 ディジタル画像
204 「手順計画」コンピュータ・ウィンドウ
210 皮膚挿入域を有するディジタル画像
212 皮膚挿入点
214 目標域を有するディジタル画像
216 目標点
224 「ロボット位置合わせ」コンピュータ・ウィンドウ
230 「手順実行」コンピュータ・ウィンドウ
232 「エンド・エフェクタ駆動」コンピュータ・ウィンドウ
234 実時間ディジタル画像
Claims (10)
- エンド・エフェクタ(26)を被検者の体内の目標位置(216)まで案内する方法であって、
前記被検者が所定の呼吸状態を有するときの前記被検者の体内の解剖学的構造の複数のディジタル画像(210、214)を形成するステップと、
前記ディジタル画像の少なくとも1枚で皮膚挿入位置(212)を指示するステップと、
前記ディジタル画像の少なくとも1枚で前記目標位置(216)を指示するステップと、
前記皮膚挿入位置(212)及び前記目標位置(216)に基づいて軌跡経路を決定するステップと、
前記被検者が前記所定の呼吸状態を実質的に有するときに前記エンド・エフェクタ(26)を前記軌跡経路に沿って前記目標位置(216)に向かって移動させるステップと、
を備えた方法。 - 前記複数のディジタル画像(210、214)を形成するステップは、
走査装置(44)の内部で軸に沿って前記被検者を移動させるステップと、
該移動時に、各々別個の軸方向位置で形成される前記複数の断面ディジタル画像(210、214)を形成するステップと、
を含んでいる、請求項1に記載の方法。 - 前記エンド・エフェクタ(26)を移動させるステップは、
前記被検者の呼吸状態を経時的に監視するステップと、
前記監視された呼吸状態と前記所定の呼吸状態との間の差が閾値以下であるときに前記エンド・エフェクタ(26)を前記軌跡経路に沿って移動させるステップと、
を含んでいる、請求項1に記載の方法。 - 前記エンド・エフェクタ(26)は所定の速度で移動される、請求項1に記載の方法。
- 前記複数のディジタル画像(210、214)は複数の計算機式断層写真法画像を含んでいる、請求項1に記載の方法。
- エンド・エフェクタ(26)を被検者の体内の目標位置(216)まで案内するシステムであって、
前記被検者の呼吸状態を監視する呼吸監視装置と、
前記被検者が所定の呼吸状態を有するときの前記被検者の体内の解剖学的構造を走査して走査データを生成するように構成されている走査装置(44)と、
前記走査データに基づいて複数のディジタル画像(210、214)を形成する第一のコンピュータ(42)と、
前記複数のディジタル画像(210、214)を表示するように構成されている第二のコンピュータ(46)であって、さらに、操作者が前記ディジタル画像の少なくとも1枚で皮膚挿入位置(212)を指示することを可能にするように構成されており、さらに、前記操作者が前記ディジタル画像の少なくとも1枚で前記目標位置(216)を指示することを可能にするように構成されており、さらに、前記皮膚挿入位置(212)及び前記目標位置(216)に基づいて軌跡経路を決定するように構成されている第二のコンピュータ(46)と、
前記被検者に挿入されるように構成されている前記エンド・エフェクタ(26)を有するエンド・エフェクタ挿入装置であって、前記第二のコンピュータ(46)は、前記被検者が前記所定の呼吸状態を実質的に有するときに前記エンド・エフェクタ(26)を前記軌跡経路に沿って前記目標位置(216)に向かって移動させることを当該エンド・エフェクタ挿入装置に行なわせる、エンド・エフェクタ挿入装置と、
を備えたシステム。。 - 前記呼吸監視装置は、前記被検者の胸部の位置を検出する赤外線式呼吸測定装置(36)を含んでいる、請求項6に記載のシステム。
- 前記走査装置(44)は計算機式断層写真法スキャナを含んでおり、前記複数のディジタル画像は複数の計算機式断層写真法画像を含んでいる、請求項6に記載のシステム。
- 前記エンド・エフェクタ挿入装置は、前記エンド・エフェクタ(26)を直線移動させるように構成されているエンド・エフェクタ駆動器(70)を含んでいる、請求項6に記載のシステム。
- エンド・エフェクタ(26)を被検者の体内の目標位置(216)まで案内する方法であって、
少なくとも1回の呼吸サイクルにわたって被検者の呼吸状態を監視するステップと、
前記被検者が所定の呼吸状態を実質的に有するときにエンド・エフェクタ(26)を軌跡経路に沿って前記被検者における前記目標位置(216)に向かって移動させるステップと、
を備えた方法。
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US10/709,783 US20050267359A1 (en) | 2004-05-27 | 2004-05-27 | System, method, and article of manufacture for guiding an end effector to a target position within a person |
US10/709,783 | 2004-05-27 |
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JP2005334650A true JP2005334650A (ja) | 2005-12-08 |
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CN (1) | CN100518626C (ja) |
NL (1) | NL1029127C2 (ja) |
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US20050267359A1 (en) | 2005-12-01 |
CN100518626C (zh) | 2009-07-29 |
NL1029127C2 (nl) | 2007-08-13 |
NL1029127A1 (nl) | 2005-11-30 |
JP5021908B2 (ja) | 2012-09-12 |
CN1714742A (zh) | 2006-01-04 |
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