JP2017526399A - 実時間自動位置合わせフィードバック - Google Patents
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- A61B5/065—Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
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- A61B1/00002—Operational features of endoscopes
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- 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
- A61B1/04—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 combined with photographic or television appliances
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- 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
- A61B1/267—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 for the respiratory tract, e.g. laryngoscopes, bronchoscopes
- A61B1/2676—Bronchoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
- A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
- A61B5/062—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using magnetic field
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- A—HUMAN NECESSITIES
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- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
- A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
- A61B5/064—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using markers
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00743—Type of operation; Specification of treatment sites
- A61B2017/00809—Lung operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/25—User interfaces for surgical systems
- A61B2034/252—User interfaces for surgical systems indicating steps of a surgical procedure
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- 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
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B2090/364—Correlation of different images or relation of image positions in respect to the body
- A61B2090/365—Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another image
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/08—Detecting, measuring or recording devices for evaluating the respiratory organs
- A61B5/0803—Recording apparatus specially adapted therefor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/74—Details of notification to user or communication with user or patient ; user input means
- A61B5/742—Details of notification to user or communication with user or patient ; user input means using visual displays
- A61B5/7425—Displaying combinations of multiple images regardless of image source, e.g. displaying a reference anatomical image with a live image
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Abstract
Description
この出願は、2014年7月2日に出願された米国仮特許出願第62/020,220号の利益および優先権を主張し、その全体の内容が参照により本明細書に援用される。
本開示は、気管支の位置合わせに関し、より詳細には、気管支樹モデルを患者の実際の気管支樹と共に自動的に位置合わせするための、デバイス、システムおよび方法に関する。
患者の気道を検査する一般的なデバイスは気管支鏡である。一般的には、気管支鏡は、患者の鼻または口を通って患者の気道に挿入され、そして患者の肺中に延在し得る。一般の気管支鏡は、気管支鏡の先端より遠位の領域を照明するための照明アセンブリ、気管支鏡の先端からビデオ画像を提供するための画像化アセンブリ、および、機器、例えば、生検用具、治療機器のような診断機器が、通って挿入され得るワーキングチャネルを有する細長い可撓性のチューブを含む。
本開示に従って提供されるのは、実時間フィードバックで内腔ネットワークの3Dモデルに対して、内腔ネットワークを位置合わせする方法である。
本開示は、患者の気道に伴う気管支樹モデルを自動的に位置合わせするための、デバイス、システム、および方法に向けられる。気管支樹モデルを自動的に生成する様々な方法が想像され、そのうちのいくつかは、同時係属中の米国特許出願第13/838,805号、第13/838,997号、および、第13/839,224号により十分に説明され、それらば、すべて、PATHWAY PLANNING SYSTEM AND METHODと題され、2013年3月15日にBakerによって出願されており、それらの全体の内容が参照として本明細書に援用されている。本開示の位置合わせシステムは、例えば、少なくとも一つのセンサを概して含み、そのセンサの位置は、電磁場内で追跡される。場所センサは、異なるタイプの用具に組み込まれ得、空間で感知された場所を患者の気道の3Dモデル内の場所と比較することによって、患者の気道内での用具の現在位置の決定を可能にする。位置合わせは、センサまたは用具の目的場所へのナビゲーション、および/または、目標場所に対するセンサまたは用具の操作を容易にする。センサまたは用具の目標場所へのナビゲーションは、SYSTEM AND METHOD FOR NAVIGATING WITHIN THE LUNGと題される、2014年、7月2日にBrown他によって出願された、同時係属中の米国仮特許出願第62/020,240号により詳細に記述されており、それらの全体の内容が参照として本明細書に援用されている。
Claims (17)
- 内腔ネットワークを該内腔ネットワークの3Dモデルに位置合わせする方法であって、該方法は、
該内腔ネットワークの画像に基づいて、内腔ネットワークの3Dモデルを生成することと、
該内腔ネットワークの周りに電磁場を生成することと、
場所センサを該電磁場内に挿入することと、
該内腔ネットワーク内の該センサの場所を追跡することと、
該センサの追跡された場所を、該内腔ネットワークの外側に位置するセンサおよび開放空間の3Dモデル表現の部分と比較することと、
該内腔ネットワークのどの部分が、該センサによって十分に横切られたとの指標をユーザインターフェイス上に提示し、該内腔ネットワークのその部分を該3Dモデルに位置合わせすることと
を含む、方法。 - 前記センサを場所確認可能なガイドに挿入することをさらに含む、請求項1に記載の方法。
- 前記センサおよび場所確認可能なガイドを気管支鏡に挿入することをさらに含む、請求項2に記載の方法。
- 前記気管支鏡を前記内腔ネットワークに挿入することをさらに含み、ここで、該内腔ネットワークは患者の気道である、請求項3に記載の方法。
- 前記ユーザインターフェイスは、前記気道のモデルを表示する、請求項4に記載の方法。
- 実況の気管支鏡画像を前記ユーザインターフェイス上に提示することをさらに含む、請求項4に記載の方法。
- 前記センサが前記内腔ネットワークを横切るとき、前記実況の気管支鏡画像が該センサを図示する、請求項6に記載の方法。
- 前記ユーザインターフェイスは、前記ユーザが位置合わせを終了することを可能にする、請求項1に記載の方法。
- 前記3Dモデルに対する前記内腔ネットワークの位置合わせを検証することをさらに含む、請求項1に記載の方法。
- 前記3Dモデルの2Dスライスを前記ユーザインターフェイス上に提示することをさらに含む、請求項9に記載の方法。
- 前記2Dスライスは、前記センサの場所を表示する、請求項10に記載の方法。
- 前記センサを動かすことをさらに含み、ここで、該センサの動きは、該センサが動いた前記場所において、前記内腔ネットワークの2Dスライスの提示をもたらす、請求項11に記載の方法。
- 前記センサの動きに際して、前記内腔ネットワークの識別された境界内に該センサが実質的に留まるとき、位置合わせは確認される、請求項12に記載の方法。
- 前記センサが前記内腔ネットワークを横切るとき、前記3Dモデルおよび該センサの場所を前記ユーザインターフェイス上に提示することをさらに含む、請求項1に記載の方法。
- 位置合わせの間に、前記センサの場所が提示される、請求項14に記載の方法。
- 手順の間に、前記センサの場所が提示される、請求項14に記載の方法。
- 前記センサの十分な感知された場所が前記3Dモデルの外側である場合、前記ユーザインターフェイスは、前記ユーザが位置合わせするために戻ることを可能にする、請求項14に記載の方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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US201462020220P | 2014-07-02 | 2014-07-02 | |
US62/020,220 | 2014-07-02 | ||
PCT/US2015/038993 WO2016004310A2 (en) | 2014-07-02 | 2015-07-02 | Real-time automatic registration feedback |
Publications (3)
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JP2017526399A true JP2017526399A (ja) | 2017-09-14 |
JP2017526399A5 JP2017526399A5 (ja) | 2018-07-05 |
JP6534193B2 JP6534193B2 (ja) | 2019-06-26 |
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JP2016575071A Expired - Fee Related JP6534193B2 (ja) | 2014-07-02 | 2015-07-02 | 実時間自動位置合わせフィードバック |
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US (2) | US10772532B2 (ja) |
EP (1) | EP3164048B1 (ja) |
JP (1) | JP6534193B2 (ja) |
CN (1) | CN107427204A (ja) |
AU (1) | AU2015283946B2 (ja) |
CA (1) | CA2953267C (ja) |
WO (1) | WO2016004310A2 (ja) |
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