JP2013541365A - 血管ツリー画像に基づく内視鏡のロボット制御 - Google Patents
血管ツリー画像に基づく内視鏡のロボット制御 Download PDFInfo
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- 210000004204 blood vessel Anatomy 0.000 title claims abstract description 50
- 210000003484 anatomy Anatomy 0.000 claims abstract description 32
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- 210000004351 coronary vessel Anatomy 0.000 claims description 29
- 238000003384 imaging method Methods 0.000 description 9
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- 238000001839 endoscopy Methods 0.000 description 4
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- 210000000577 adipose tissue Anatomy 0.000 description 2
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- 230000000694 effects Effects 0.000 description 2
- 238000002674 endoscopic surgery Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 241001631457 Cannula Species 0.000 description 1
- 208000031481 Pathologic Constriction Diseases 0.000 description 1
- 230000003872 anastomosis Effects 0.000 description 1
- 238000002583 angiography Methods 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
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- 238000013276 bronchoscopy Methods 0.000 description 1
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- 238000006243 chemical reaction Methods 0.000 description 1
- 238000002052 colonoscopy Methods 0.000 description 1
- 238000002591 computed tomography Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000002357 laparoscopic surgery Methods 0.000 description 1
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- 238000012978 minimally invasive surgical procedure Methods 0.000 description 1
- 210000004115 mitral valve Anatomy 0.000 description 1
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- 230000004044 response Effects 0.000 description 1
- 230000000250 revascularization Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 208000037804 stenosis Diseases 0.000 description 1
- 230000036262 stenosis Effects 0.000 description 1
- 210000001562 sternum Anatomy 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 210000003462 vein Anatomy 0.000 description 1
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Abstract
Description
Claims (20)
- ロボットユニットと、
制御ユニットと、
を有し、前記ロボットユニットが、
解剖学的領域内の血管ツリーの術中内視鏡画像を生成する内視鏡と、
前記解剖学的領域内で前記内視鏡を移動させるロボットと、
を有し、前記制御ユニットが、
前記解剖学的領域内に内視鏡パスを生成する内視鏡コントローラであって、前記内視鏡パスは、前記血管ツリーの術中内視鏡画像のグラフィック表現の、前記血管ツリーの術前3次元画像のグラフィック表現とのマッチングから導出される、内視鏡コントローラと、
前記内視鏡パスに従って前記解剖学的領域内で前記内視鏡を移動させるよう、前記ロボットに命じるロボットコントローラと、
を有する、ロボットガイドディングシステム。 - 前記血管ツリーの前記術中内視鏡画像のグラフィック表現の、前記血管ツリーの前記術前3次元画像のグラフィック表現とのマッチングが、
前記血管ツリーの前記術前3次元画像の幾何学的表現から導出されるメイングラフを生成し、
前記血管ツリーの前記術中内視鏡画像の幾何学的表現から導き出されるサブグラフを生成し、
前記サブグラフを前記メイングラフとマッチングする、
ことを含む、請求項1に記載のロボットガイディングシステム。 - 前記メイングラフは、前記血管ツリーの前記術前3次元画像内の血管ツリーの各々の分岐部を表すノードのメインセットを含み、
前記サブグラフは、前記ノードのメインセットのサブセットを含み、前記サブセットは、前記血管ツリーの前記術中内視鏡画像内の前記血管ツリーの各々の分岐部を表す、請求項2の記載のロボットガイディングシステム。 - 前記サブグラフの前記メイングラフとのマッチングは、前記メイングラフにおけるノードの垂直方向の順序及び水平方向の順序のうち少なくとも1つを確立することを含む、請求項3に記載のロボットガイディングシステム。
- 前記内視鏡コントローラは、前記血管ツリーの前記術中内視鏡画像のグラフィック表現の、前記血管ツリーの前記術前3次元画像のグラフィック表現とのマッチングに従って、前記血管ツリーの前記術前3次元画像の幾何学的表現を、前記血管ツリーの前記術中内視鏡画像にオーバレイする、請求項2に記載のロボットガイディングシステム。
- 前記内視鏡コントローラは更に、前記血管ツリーの前記術前3次元画像の幾何学的表現の、前記血管ツリーの前記術中内視鏡画像とのオーバレイの中に、前記内視鏡パスを生成する、請求項5に記載のロボットガイディングシステム。
- 前記サブグラフの前記メイングラフとのマッチングは、前記ノードのサブセットと前記ノードのメインセットとの複数のマッチング結果を含み、
前記複数のマッチング結果のうち1つが、前記サブグラフの前記メイングラフとの合致として選択される、請求項2に記載のロボットガイディングシステム。 - 前記血管ツリーは冠状動脈樹である、請求項1に記載のロボットガイディングシステム、
- 解剖学的領域内の血管ツリーの術中内視鏡画像を生成する内視鏡、及び前記解剖学的領域内で内視鏡を移動させるロボット、のための制御ユニットであって、
前記解剖学的領域内に内視鏡パスを生成する内視鏡コントローラであって、前記内視鏡パスは、前記血管ツリーの前記術中内視鏡画像のグラフィック表現の、前記血管ツリーの前記術前3次元画像のグラフィック表現とのマッチングから導出される、内視鏡コントローラと、
前記内視鏡パスに従って前記解剖学的領域内で前記内視鏡を移動させるよう、前記ロボットに命じるロボットコントローラと、
を有する、制御ユニット。 - 前記血管ツリーの前記術中内視鏡画像のグラフィック表現の、前記血管ツリーの前記術前3次元画像のグラフィック表現とのマッチングが、
前記血管ツリーの前記術前3次元画像の幾何学的表現から導出されるメイングラフを生成し、
前記血管ツリーの前記術中内視鏡画像の幾何学的表現から導き出されるサブグラフを生成し、
前記サブグラフを前記メイングラフとマッチングする、
ことを含む、請求項9に記載の制御ユニット。 - 前記メイングラフは、前記血管ツリーの前記術前3次元画像内の前記血管ツリーの各々の分岐部を表すノードのメインセットを含み、
前記サブグラフは、前記ノードのメインセットのサブセットを含み、前記サブセットは、前記血管ツリーの前記術中内視鏡画像内の血管ツリーの各々の分岐部を表す、請求項10に記載の制御ユニット。 - 前記サブグラフの前記メイングラフトとのマッチングは、前記メイングラフのノードの垂直方向の順序及び水平方向の順序のうち少なくとも1つを確立することを含む、請求項11に記載の制御ユニット。
- 前記内視鏡コントローラは、前記血管ツリーの前記術中内視鏡画像のグラフィック表現の、前記血管ツリーの前記術前3次元画像のグラフィック表現とのマッチングに従って、前記血管ツリーの前記術前3次元画像の幾何学的表現を、前記血管ツリーの前記術中内視鏡画像にオーバレイする、請求項10に記載の制御ユニット。
- 前記内視鏡コントローラは更に、前記血管ツリーの前記術前3次元画像の幾何学的表現の、前記血管ツリーの前記術中内視鏡画像とのオーバレイの中に、前記内視鏡パスを生成する、請求項13に記載の制御ユニット。
- 前記サブグラフの前記メイングラフとのマッチングは、前記ノードのサブセットと前記ノードのメインセットとの複数のマッチング結果を含み、
前記複数のマッチング結果のうち1つが、前記サブグラフの前記メイングラフとの合致として選択される、請求項10に記載の制御ユニット。 - ロボットガイディング方法であって、
解剖学的領域内の血管ツリーの術中内視鏡画像を生成するステップと、
前記解剖学的領域内に内視鏡パスを生成するステップであって、前記内視鏡パスは、前記血管ツリーの術中内視鏡画像のグラフィック表現の、前記血管ツリーの術前3次元画像のグラフィック表現とのマッチングから導出される、ステップと、
前記内視鏡パスに従って前記解剖学的領域内で前記内視鏡を移動させるよう、前記ロボットに命じるステップと、
を含むロボットガイディング方法。 - 前記血管ツリーの前記術中内視鏡画像のグラフィック表現の、前記血管ツリーの前記術前3次元画像のグラフィック表現とのマッチングが、
前記血管ツリーの前記術前3次元画像の幾何学的表現から導出されるメイングラフを生成し、
前記血管ツリーの前記術中内視鏡画像の幾何学的表現から導出されるサブグラフを生成し、
前記サブグラフを前記メイングラフとマッチングする、
ことを含む、請求項16に記載のロボットガイディング方法。 - 前記メイングラフは、前記血管ツリーの前記術前3次元画像内の血管ツリーの各々の分岐部を表すノードのメインセットを含み、
前記サブグラフは、前記ノードのメインセットのサブセットを含み、
前記サブセットは、前記血管ツリーの前記術中内視鏡画像内の血管ツリーの各々の分岐部を表す、
請求項17に記載のロボットガイディング方法。 - 前記血管ツリーの前記術中内視鏡画像のグラフィック表現の、前記血管ツリーの前記術前3次元画像のグラフィック表現とのマッチングに従って、前記血管ツリーの前記術前3次元画像の幾何学的表現を、前記血管ツリーの前記術中内視鏡画像にオーバレイする、請求項17に記載のロボットガイディング方法。
- 前記内視鏡パスは、前記血管ツリーの前記術前3次元画像の幾何学的表現の、前記血管ツリーの前記術中内視鏡画像へのオーバレイの中に生成される、請求項19に記載のロボットガイディング方法。
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PCT/IB2011/053998 WO2012035492A1 (en) | 2010-09-15 | 2011-09-13 | Robotic control of an endoscope from blood vessel tree images |
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Cited By (24)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2017508499A (ja) * | 2014-01-24 | 2017-03-30 | コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. | ロボット手術のための連続画像統合 |
WO2018037931A1 (en) | 2016-08-22 | 2018-03-01 | Canon Kabushiki Kaisha | Continuum robot, modification method of kinematic model of continuum robot, and control method of continuum robot |
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WO2023148812A1 (ja) * | 2022-02-01 | 2023-08-10 | 日本電気株式会社 | 画像処理装置、画像処理方法及び記憶媒体 |
Also Published As
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WO2012035492A1 (en) | 2012-03-22 |
CN103108602A (zh) | 2013-05-15 |
CN103108602B (zh) | 2015-09-30 |
JP5955847B2 (ja) | 2016-07-20 |
US9615886B2 (en) | 2017-04-11 |
EP2615993B1 (en) | 2015-03-18 |
US20130165948A1 (en) | 2013-06-27 |
US10182704B2 (en) | 2019-01-22 |
EP2615993A1 (en) | 2013-07-24 |
US20170209028A1 (en) | 2017-07-27 |
RU2594813C2 (ru) | 2016-08-20 |
RU2013116901A (ru) | 2014-10-20 |
BR112013005879A2 (pt) | 2016-05-10 |
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