JP2018158104A - ロボット外科システムのロボットナビゲーション - Google Patents
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Abstract
【解決手段】外科処置中の外科ロボット102のナビゲーションは、容易な位置合わせ、手術量の識別、及び追跡を可能とする。外科ロボットの軌道を表示する表示スクリーン110を含む。トラッキング検出器108は患者104及び外科ロボットの配置を監視する。外科ロボットは手術台112に取り付けられることなく手術台に近接して外科医に手術領域と可動性を提供する。加えて、手術量、患者−ロボットの方位関係、及び患者の解剖学的構造モデルなどの、手術前に定義されたデータを見直すことによって、より高度な精度及び合併症ならびに深刻な医療ミスのリスクの低減が、達成され得る。
【選択図】図1
Description
ある実施形態において、基準マーカの複数のうちのそれぞれが、材料を識別する。ある実施形態において、複数の基準マーカの各々は、コース位置合わせの実行に必要な最小距離(例えば、最小距離は少なくとも5cm、少なくとも10cm、少なくとも15cm)だけ離間する。
定義
本開示をより容易に理解されるように、本明細書において使用されたある特定の用語が、以下に定義される。以下の用語及びその他の用語のための付加的な定義は、明細書を通して説明され得る。
さらに、2つ以上のステップまたは行動は、同時に行われ得る。
Claims (17)
- 外科処置中に患者の解剖学的構造を、ロボット外科システムのロボットアームのエンドエフェクタに取り付けられた器具と再位置合わせするための方法であって、
ロボットアームに、器具を取り付けたエンドエフェクタを提供することであって、力センサが前記ロボットアームに結合される(例えば、前記力センサが前記器具と前記ロボットアームとの間に位置する)、エンドエフェクタを提供することと、
プロセッサ及び内部に命令を記憶させたメモリを提供することと、を含み、前記命令が、
前記プロセッサによって実行されたとき、前記プロセッサに、
前記エンドエフェクタの移動によって促された、前記力センサからの触覚フィードバックを受信することと、
前記触覚フィードバックが前記器具の材料との接触に対応することを判定することと、
ロボット座標システムを使用して表された、前記器具の前記材料との各接触についての空間座標を含み、各空間座標が、解剖学的構造の体積の表面上のポイントに対応する、一組の空間座標を判定することと、
ロボット座標システムと医用画像データ座標システムとの間の座標マッピングを受信することであって、前記ロボット座標システムが前記エンドエフェクタの物理的な座標システムに対応する、座標マッピングを受信することと、
前記一組の空間座標に対応する前記表面のマッピングに基づいて前記座標マッピングを更新することと、
前記更新された座標マッピングを記憶させ、それにより前記患者の解剖学的構造を再位置合わせすることと、を行わせる、方法。 - 前記マッピングが、面合わせを使用して生成される、請求項1に記載の方法。
- 前記更新ステップが、
前記座標マッピングを使用して、患者の解剖学的構造の体積の前記表面を画定している一組の医用画像モデリング座標を変換することによって、一組のモデリング座標を判定し、前記一組の空間座標に対応する前記表面の前記一組のモデリング座標への前記マッピングに基づいて前記座標マッピングを更新するステップをさらに含む、請求項1に記載の方法。 - 前記更新ステップが、
前記ロボット座標システムにおいて表され、患者の解剖学的構造の体積の前記表面を画定する、一組のモデリング座標を受信するステップと、
前記一組の空間座標に対応する前記表面を、前記一組のモデリング座標に対応する前記患者の解剖学的構造の表面にマッピングするステップと、
前記一組の空間座標に対応する前記表面の前記一組のモデリング座標への前記マッピングに基づいて前記座標マッピングを更新するステップと、をさらに含む、請求項1に記載の方法。 - 医療処置中の患者の位置のリアルタイムで動的な再位置合わせのためのロボットナビゲーションシステムであって、
ロボットアームを備え、前記ロボットアームが、
エンドエフェクタと、
前記エンドエフェクタの位置を動的に追跡するための位置センサと、
前記エンドエフェクタを操作しているユーザに力覚を届けるための力フィードバックサブシステムと、
ディスプレイと、を備え、
前記力フィードバックサブシステムが、前記患者の組織に接触し、抗して移動し、貫通し、及び/または中で移動する外科器具によって引き起こされた抵抗力を検出し、接触された組織の種類を識別し、前記操作者によって届けられた力を検出し、前記操作者によって届けられた前記力と前記患者の前記組織に対する前記外科器具の移動によってもたらされた前記抵抗力とを識別するための、1つ以上のセンサを備える、ロボットナビゲーションシステム。 - 器具が、前記ロボット外科システムの前記ロボットアームの前記エンドエフェクタに取り付けられている、請求項5に記載のロボットナビゲーションシステム。
- 前記器具が、外科ツールである、請求項6に記載のロボットナビゲーションシステム。
- 前記ロボットナビゲーションシステムの位置合わせまたは再位置合わせのための基準マーカをさらに含み、前記基準マーカが、
方向部材であって、前記方向部材の複数の面を横切って分配された複数の方向ポイントを備える、方向部材と、
前記方向部材が患者の解剖学的構造に対する方向及び位置を認識するように、前記基準マーカを前記患者の解剖学的構造に確実かつ開放可能に取り付けるための取り付け部材と、を備える、請求項1に記載のロボットナビゲーションシステム。 - 前記複数の方向ポイントが、前記方向部材の表面上のくぼみである、請求項8に記載のロボットナビゲーションシステム。
- 前記複数の方向ポイントが、ロボット座標システムを画定する、請求項8に記載のロボットナビゲーションシステム。
- 前記基準マーカと前記患者の解剖学的構造との間の空間関係を使用して、前記空間座標が判定されるように、前記エンドエフェクタが、既知のサイズ及び形状を有する前記基準マーカと接触する、請求項8に記載のロボットナビゲーションシステム。
- 前記システムが、コース位置合わせの実行に必要な最小距離だけ離間した複数の基準マーカを含む(例えば、前記最小距離は、少なくとも5cm、少なくとも10cm、少なくとも15cmである)、請求項5に記載のロボットナビゲーションシステム。
- 前記最小距離が、5cm以下、10cm以下、または15cm以下である、請求項12に記載のロボットナビゲーションシステム。
- ロボット外科システムのロボットアームのエンドエフェクタに取り付けられた外科器具が操作され得る、手術可能な体積を画定する患者の位置のリアルタイムで動的な再位置合わせのためのロボット外科システムであって、
器具を取り付けたエンドエフェクタを有するロボットアームと、
前記ロボットアームに直接または間接的に取り付けられた力センサと、
プロセッサ及び内部に命令を記憶させたメモリと、を備え、前記命令が、前記プロセッサによって実行されたとき、前記プロセッサに、
前記エンドエフェクタの移動によって促された、前記力センサからの触覚フィードバックを受信することと、
前記触覚フィードバックが、患者の解剖学的構造との前記器具の接触に対応することを判定することと、
ロボット座標システムを使用して表された、前記患者の解剖学的構造との前記器具の各接触のための空間座標を含み、各空間座標がある体積の表面上のポイントに対応する、一組の空間座標を判定することと、
ユーザによって選択されたモデル体積であって、ロボット座標システムで表される、モデル体積を受信することと、
前記モデル体積の前記表面を前記一組の空間座標にマッピングすることと、
更新されたモデル体積を生成することであって、前記モデル体積の前記表面の前記一組の空間座標への前記マッピングを使用して、前記モデル体積の座標を変換することによって、前記更新されたモデル体積の座標が生成される、更新されたモデル体積を生成することと、
前記更新されたモデル体積を記憶することと、を行わせる、システム。 - 前記更新されたモデル体積が、制限された手術可能な体積であり、前記外科器具の終点が、前記制限された手術可能な体積内に一時的に制限される、請求項14に記載のシステム。
- 前記モデル体積が、座標マッピングを使用して、医用画像データから生成される、請求項14に記載のシステム。
- 前記命令が、前記プロセッサによって実行されたとき、前記プロセッサに、
前記更新されたモデル体積を受信することであって、前記記憶されたモデル体積が、第1のロボット座標システムで表される、前記更新されたモデル体積を受信することと、
第2のロボット座標システムで表される更新された座標マッピングを受信することと、
前記第1のロボット座標システムを、前記第2のロボット座標システムにマッピングすることと、
前記更新されたモデルの座標を変換することによって、第2の更新されたモデル体積、及び
前記第1のロボット座標システムと前記第2のロボット座標システムとの間の前記マッピングを使用して、前記第2のロボット座標システムで表された更新された座標に対する体積を生成することと、前記第2の更新されたモデル体積を記憶することと、を行わせる、請求項14に記載のシステム。
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US20180263714A1 (en) | 2018-09-20 |
US20210322109A1 (en) | 2021-10-21 |
EP3375400A3 (en) | 2018-09-26 |
US20240122656A1 (en) | 2024-04-18 |
EP3375400A2 (en) | 2018-09-19 |
US11071594B2 (en) | 2021-07-27 |
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