JP2013519432A - 捻転に対する感度の低い形状センサを用いた絶対的3次元測定のための方法およびシステム - Google Patents
捻転に対する感度の低い形状センサを用いた絶対的3次元測定のための方法およびシステム Download PDFInfo
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Abstract
Description
Claims (22)
- 継手を含む基準固定具と、
外科手術器具と、
該継手と該外科手術器具との間に接続されるテザーと、
該基準固定具から該継手を通して該テザーを通して該外科手術器具内へ延在する形状センサと
を備え、該形状センサは、該テザー内において、実質的に捻転がなく、
該形状センサからの情報は、固定された世界基準フレームに対する絶対的3次元情報を生成する際に使用される、装置。 - 前記基準固定具は、
継手追跡装置をさらに備え、該継手追跡装置は、前記継手の運動を追跡し、該継手追跡装置からの情報は、前記形状センサからの情報と組み合わせて、前記固定された世界基準フレームに対する絶対的3次元情報を生成する際に使用される、請求項1に記載の装置。 - 前記継手は、1自由度のみ有する、請求項1に記載の装置。
- 前記継手は、ロール継手を備え、前記1自由度は、ロールである、請求項3に記載の装置。
- 前記継手は、自由度を有していない、請求項1に記載の装置。
- 前記形状センサは、前記外科手術器具に入ると既知の特徴を含む、請求項1に記載の装置。
- 前記テザーは、該テザーの長手方向軸に沿って延在する内腔を画定し、前記形状センサは、該内腔を通して延在する、請求項1に記載の装置。
- 前記テザーは、捻転に対して靭性があるテザーを備える、請求項1に記載の装置。
- 前記テザーは、前記テザーの長手方向軸に沿って内腔を画定し、前記形状センサは、該内腔を通して延在する、請求項8に記載の装置。
- 前記内腔は、前記長手方向軸に対して垂直な非円形断面を有し、さらに、前記テザーを通して延在する前記形状センサの一部は、該非円形断面を有する、請求項9に記載の装置。
- 前記内腔を通して延在し、内張内腔を有する内張をさらに備え、
前記形状センサは、該内張内腔を通って延在し、
該内張は、前記形状センサが該内張内を自由に回転するような材料を備える、請求項7に記載の装置。 - 前記材料は、フッ素化ポリマーである、請求項11に記載の装置。
- 前記外科手術器具は、カニューレであって、前記装置は、
第2の外科手術器具と、
該カニューレと該第2の外科手術器具との間に接続される第2のテザーと
をさらに備える、請求項1に記載の装置。 - 前記外科手術器具は、可撓性外科手術器具を備える、請求項1に記載の装置。
- プロセッサによって、継手追跡装置からの情報を処理して、第1の姿勢情報を生成することであって、
該継手追跡装置は、基準固定具に接続され、
該継手追跡装置は、該テザーに接続される継手の運動を測定し、
該基準固定具は、低侵襲外科手術のための場所に取り付けられ、固定された世界基準フレームを確立する際に使用される、ことと、
該プロセッサによって、該継手および該テザーを通して延在する形状センサからの情報を処理して、第2の姿勢情報を生成することと、
該第1の姿勢情報および該第2の姿勢情報を使用して、該プロセッサによって、該固定された世界基準フレーム内において、該外科手術器具の近位部分の絶対的3次元姿勢を生成することと
を含む、方法。 - 前記形状センサは、前記外科手術器具の遠位部分まで延在し、前記方法は、
前記プロセッサによって、該外科手術器具を通して延在する該形状センサからの情報を処理して、第3の姿勢情報を生成することをさらに含む、請求項15に記載の方法。 - 前記方法は、
前記第3の姿勢情報を使用して、前記プロセッサによって、前記固定された世界基準フレーム内において、前記外科手術器具の前記遠位部分の絶対的3次元姿勢を生成することをさらに含む、請求項16に記載の方法。 - 前記第3の姿勢情報を使用して、前記プロセッサによって生成することは、
前記固定された世界基準フレーム内において、前記外科手術器具の形状を生成することをさらに含む、請求項16に記載の方法。 - 前記外科手術器具は、カニューレを備える、請求項15に記載の方法。
- 前記外科手術器具は、可撓性外科手術器具を備える、請求項15に記載の方法。
- 外科手術器具をテザーの遠位端に連結することと、
該テザーの近位端を基準構造の継手に連結することであって、該基準構造は、該継手の運動を測定するための継手追跡装置を含む、ことと、
形状センサを、該継手および該テザーを通して、該外科手術器具内へと延在させることと
を含み、該形状センサは、世界固定基準フレーム内において、該外科手術器具の一部の絶対的3次元姿勢を決定する際に使用される情報を提供する、方法。 - 前記外科手術器具は、カニューレを備え、前記方法は、
前記基準構造を低侵襲遠隔操作外科手術システムのマニピュレータを支持するアームに接続することをさらに含む、請求項21に記載の方法。
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
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US30409410P | 2010-02-12 | 2010-02-12 | |
US61/304,094 | 2010-02-12 | ||
US12/839,642 | 2010-07-20 | ||
US12/839,642 US9285246B2 (en) | 2010-02-12 | 2010-07-20 | Method and system for absolute three-dimensional measurements using a twist-insensitive shape sensor |
PCT/US2011/022823 WO2011100124A1 (en) | 2010-02-12 | 2011-01-28 | Method and system for absolute three-dimensional measurements using a twist-insensitive shape sensor |
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JP2015159895A Active JP6457352B2 (ja) | 2010-02-12 | 2015-08-13 | 捻転に対する感度の低い形状センサを用いた絶対的3次元測定のための方法およびシステム |
JP2017113383A Active JP6336661B2 (ja) | 2010-02-12 | 2017-06-08 | 捻転に対する感度の低い形状センサを用いた絶対的3次元測定のための方法およびシステム |
JP2018088764A Withdrawn JP2018118138A (ja) | 2010-02-12 | 2018-05-02 | 捻転に対する感度の低い形状センサを用いた絶対的3次元測定のための方法およびシステム |
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