JP2013517031A - 内視鏡手術のための画像積分ベースレジストレーション及びナビゲーション - Google Patents
内視鏡手術のための画像積分ベースレジストレーション及びナビゲーション Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
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- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
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- 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
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Abstract
Description
Claims (20)
- 術前走査画像、術中蛍光透視画像、及び術中内視鏡画像を含む身体の解剖領域の複数の画像を積分するための手術ナビゲーションシステムであって、
蛍光透視画像行列と内視鏡画像行列の積分を含む積分画像行列を生成する画像積分器であって、
前記蛍光透視画像行列が前記術中蛍光透視画像と前記術前走査画像の間の変換を含み、
前記内視鏡画像行列が前記術前走査画像と前記術中内視鏡画像の間の変換を含む、
画像積分器と、
積分追跡行列と走査追跡行列を生成する道具追跡器であって、
前記積分追跡行列が前記積分画像行列と内視鏡追跡行列の積分を含み、
前記走査追跡行列が前記内視鏡画像行列と前記内視鏡追跡行列の積分を含み、
前記内視鏡追跡行列が前記術中内視鏡画像内の手術道具の追跡をあらわす、
道具追跡器と
を有する、手術ナビゲーションシステム。 - 前記画像積分器がさらに、前記術前走査画像と前記術中内視鏡画像の間の変換のための基準として前記術中内視鏡画像内の対象の表面の写真測量再構成を実行する、請求項1に記載の手術ナビゲーションシステム。
- 前記蛍光透視画像行列と前記内視鏡画像行列の積分が前記蛍光透視画像行列と前記内視鏡画像行列を含む行列乗算の実行を含む、請求項1に記載の手術ナビゲーションシステム。
- 前記積分画像行列と内視鏡追跡行列の積分が前記積分画像行列と前記内視鏡追跡行列を含む行列乗算の実行を含む、請求項1に記載の手術ナビゲーションシステム。
- 前記内視鏡画像行列と前記内視鏡追跡行列の積分が前記内視鏡画像行列と前記内視鏡追跡行列を含む行列乗算の実行を含む、請求項1に記載の手術ナビゲーションシステム。
- 前記積分追跡行列の関数として手術道具のオーバーレイを持つ前記術中蛍光透視画像を表示するための表示装置をさらに有する、請求項1の手術ナビゲーションシステム。
- 前記走査追跡行列の関数として手術道具のオーバーレイを持つ前記術前走査画像を表示するための表示装置をさらに有する、請求項1に記載の手術ナビゲーションシステム。
- 前記道具追跡器がさらに前記術中内視鏡画像内の前記手術道具の写真測量追跡を実行する、請求項1に記載の手術ナビゲーションシステム。
- 前記術前走査画像がコンピュータ断層撮影画像、磁気共鳴画像、超音波画像、及びX線画像からなる群から選択される、請求項1に記載の手術ナビゲーションシステム。
- 術前走査画像、術中蛍光透視画像、及び術中内視鏡画像を含む身体の解剖領域の複数の画像を積分するための手術ナビゲーションシステムであって、
蛍光透視画像行列と内視鏡画像行列の積分を含む積分画像行列を生成する画像積分器であって、
前記蛍光透視画像行列が前記術中蛍光透視画像と前記術前走査画像の間の変換を含み、
前記内視鏡画像行列が前記術前走査画像と前記術中内視鏡画像の間の変換を含む、
画像積分器と、
積分追跡行列を生成する道具追跡器であって、
前記積分追跡行列が前記積分画像行列と内視鏡追跡行列の積分を含み、
前記内視鏡追跡行列が前記術中内視鏡画像内の手術道具の追跡をあらわす、
道具追跡器と
を有する、手術ナビゲーションシステム。 - 前記画像積分器がさらに、前記術前走査画像と前記術中内視鏡画像の間の変換のための基準として前記術中内視鏡画像内の対象の表面を再構成する、請求項10に記載の手術ナビゲーションシステム。
- 前記蛍光透視画像行列と前記内視鏡画像行列の積分が前記蛍光透視画像行列と前記内視鏡画像行列を含む行列乗算の実行を含む、請求項10に記載の手術ナビゲーションシステム。
- 前記積分画像行列と内視鏡追跡行列の積分が前記積分画像行列と前記内視鏡追跡行列を含む行列乗算の実行を含む、請求項10に記載の手術ナビゲーションシステム。
- 前記積分追跡行列の関数として手術道具のオーバーレイを持つ前記術中蛍光透視画像を表示するための表示装置をさらに有する、請求項10に記載の手術ナビゲーションシステム。
- 前記道具追跡器がさらに前記術中内視鏡画像内の前記手術道具の写真測量追跡を実行する、請求項10に記載の手術ナビゲーションシステム。
- 術前走査画像、術中蛍光透視画像、及び術中内視鏡画像を含む身体の解剖領域の複数の画像を積分するための手術ナビゲーション方法であって、
蛍光透視画像行列と内視鏡画像行列の積分を含む積分画像行列を生成するステップであって、
前記蛍光透視画像行列が前記術中蛍光透視画像と前記術前走査画像の間の変換を含み、
前記内視鏡画像行列が前記術前走査画像と前記術中内視鏡画像の間の変換を含む、
ステップと、
積分追跡行列と走査追跡行列を生成するステップであって、
前記積分追跡行列が前記積分画像行列と内視鏡追跡行列の積分を含み、
前記走査追跡行列が前記内視鏡画像行列と前記内視鏡追跡行列の積分を含み、
前記内視鏡追跡行列が前記術中内視鏡画像内の手術道具の追跡をあらわす、
ステップと
を有する、手術ナビゲーション法。 - 前記蛍光透視画像行列と前記内視鏡画像行列の積分が前記蛍光透視画像行列と前記内視鏡画像行列を含む行列乗算の実行を含む、請求項16に記載の手術ナビゲーション法。
- 前記積分画像行列と内視鏡追跡行列の積分が前記積分画像行列と前記内視鏡追跡行列を含む行列乗算の実行を含む、請求項16に記載の手術ナビゲーション法。
- 前記内視鏡画像行列と前記内視鏡追跡行列の積分が前記内視鏡画像行列と前記内視鏡追跡行列を含む行列乗算の実行を含む、請求項16に記載の手術ナビゲーション法。
- 前記積分追跡行列の関数として手術道具のオーバーレイを持つ前記術中蛍光透視画像を表示するステップと、
前記走査追跡行列の関数として手術道具のオーバーレイを持つ前記術前走査画像を表示するステップとをさらに有する、請求項16に記載の手術ナビゲーション法。
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US29450210P | 2010-01-13 | 2010-01-13 | |
US61/294,502 | 2010-01-13 | ||
PCT/IB2010/055606 WO2011086431A1 (en) | 2010-01-13 | 2010-12-06 | Image integration based registration and navigation for endoscopic surgery |
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JP2013517031A true JP2013517031A (ja) | 2013-05-16 |
JP2013517031A5 JP2013517031A5 (ja) | 2015-04-09 |
JP5795599B2 JP5795599B2 (ja) | 2015-10-14 |
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US (1) | US9095252B2 (ja) |
EP (1) | EP2523621B1 (ja) |
JP (1) | JP5795599B2 (ja) |
CN (1) | CN102711650B (ja) |
BR (1) | BR112012016973A2 (ja) |
RU (1) | RU2556593C2 (ja) |
WO (1) | WO2011086431A1 (ja) |
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EP2523621B1 (en) | 2016-09-28 |
US9095252B2 (en) | 2015-08-04 |
BR112012016973A2 (pt) | 2017-09-26 |
CN102711650A (zh) | 2012-10-03 |
US20120294498A1 (en) | 2012-11-22 |
EP2523621A1 (en) | 2012-11-21 |
RU2556593C2 (ru) | 2015-07-10 |
RU2012134327A (ru) | 2014-02-20 |
JP5795599B2 (ja) | 2015-10-14 |
CN102711650B (zh) | 2015-04-01 |
WO2011086431A1 (en) | 2011-07-21 |
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