JP2018515253A - 画像誘導手術のための位置合わせのシステム及び方法 - Google Patents
画像誘導手術のための位置合わせのシステム及び方法 Download PDFInfo
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Abstract
Description
本特許出願は、2015年5月22日に出願された“SYSTEMS AND METHODS OF REGISTRATION FOR IMAGE GUIDED SURGERY”と題する米国仮特許出願第62/165,249号の優先権及び出願日の利益を主張し、これは、その全体が本明細書に参照により援用される。
Claims (20)
- コンピューティングシステムによって実行される方法であって:
解剖学的構造の通路のセット内の複数の場所における器具の遠位部分についての収集された空間情報のセットを受信するステップと;
前記器具の前記遠位部分が前記複数の場所のそれぞれにあるとき前記器具の基準部分についての位置情報のセットを受信するステップと;
前記収集された空間情報のセットと前記器具の前記基準部分についての前記位置情報のセットとに基づいて、前記器具の前記遠位部分についての空間情報の基準セットを決定するステップと;
前記空間情報の基準セットを解剖学的構造のモデル情報のセットと位置合わせするステップと;
を含む、方法。 - 前記収集された空間情報のセットは、前記器具の前記遠位部分と前記器具の前記基準部分との間に延びる光ファイバ形状センサから受信される、
請求項1に記載の方法。 - 前記光ファイバ形状センサは、前記器具の前記基準部分に固定される、
請求項2に記載の方法。 - 前記器具を前記解剖学的構造の通路のセット内の前記複数の場所を通って動かすように、制御装置からコマンドを受信するステップをさらに含む、
請求項1に記載の方法。 - 前記位置情報のセットを受信するステップは、前記器具の前記基準部分に結合される駆動システムからエンコーダ情報を受信するステップ及び、前記エンコーダ情報と、前記器具の前記基準部分が横切る固定挿入経路についての較正情報とに基づいて前記位置情報のセットを決定するステップ、をさらに含む、
請求項1に記載の方法。 - 前記較正情報は、前記エンコーダ情報に対応する前記器具の前記基準部分についての較正された位置情報を含む、
請求項5に記載の方法。 - 前記空間情報の基準セットは、手術座標空間にある、
請求項1に記載の方法。 - 前記解剖学的構造のモデル情報のセットは、手術前解剖学的構造の画像のセットからのものである、
請求項1に記載の方法。 - 前記空間情報の基準セットを解剖学的構造のモデル情報のセットと位置合わせするステップは、前記空間情報の基準セットからの基準データ点を、前記解剖学的構造のモデル情報からの解剖学的構造の点と一致させるステップを含む、
請求項1に記載の方法。 - 前記空間情報の基準セットを解剖学的構造のモデル情報のセットと位置合わせするステップは、変更動作を決定するステップ及び基準データ点を前記空間情報の基準セットから変換するステップをさらに含む、
請求項1に記載の方法。 - 遠隔操作アセンブリに結合される医療器具の遠位部分が解剖学的構造の通路のセット内の複数の場所にあるとき前記器具内に延びる光ファイバ形状センサから空間情報のセットを収集するステップと;
前記器具の前記遠位部分が前記解剖学的構造の通路のセット内の前記複数の場所にあるとき前記遠隔操作アセンブリの駆動システムのための位置センサから位置情報のセットを受信するステップと;
前記器具の前記遠位部分が前記複数の場所にあるとき前記器具の近位部分についての近位位置データのセットを決定するステップであって、前記決定するステップは、前記位置センサからの前記位置情報、及び、前記位置センサと前記器具の前記近位部分がそれに沿って動く固定挿入トラックとの間の較正情報に基づく、ステップと;
収集された前記空間情報のセットと前記近位位置データのセットとに基づいて、前記器具の前記遠位部分についての空間情報の基準セットを決定するステップと;
前記空間情報の基準セットを解剖学的構造のモデル情報のセットと位置合わせするステップと;
を含む、方法。 - 前記器具の前記近位部分が前記固定挿入トラックに沿って動く間に、前記器具の前記遠位部分を前記解剖学的構造の通路のセットを通って動かすよう、前記遠隔操作アセンブリを操作するコマンドを受信するステップをさらに含む、
請求項11に記載の方法。 - 前記固定挿入トラックは、ほぼ直線であり、前記位置センサは、前記挿入トラックに沿った前記器具の挿入を測定するエンコーダである、
請求項11に記載の方法。 - 前記較正情報は、挿入軸の方向を含む、
請求項13に記載の方法。 - 前記挿入軸の前記方向は、前記挿入トラックと整列される前記器具のセクションに沿った2つの点の間の位置の差の測定から入手される、
請求項14に記載の方法。 - 前記挿入軸の前記方向は、前記遠位部分が固定され且つ前記器具が少なくとも2つの異なる位置に動かされる間に、前記器具の前記遠位部分に対する前記器具の前記近位部分上の基準ポイントの位置を測定することによって、入手される、
請求項14に記載の方法。 - 手術環境において医療器具を動かすように構成されるマニピュレータと;
前記マニピュレータに動作可能に結合される処理ユニットと;を有し、
前記処理ユニットは:
解剖学的構造の通路のセット内の複数の場所における前記医療器具の遠位部分についての収集された空間情報のセットを受信し;
前記医療器具の前記遠位部分が前記複数の場所のそれぞれにあるとき前記医療器具の基準部分についての位置情報のセットを受信し;
前記収集された空間情報のセットと前記医療器具の前記基準部分についての前記位置情報のセットとに基づいて、前記医療器具の前記遠位部分についての空間情報の基準セットを決定し;
前記空間情報の基準セットを解剖学的構造のモデル情報のセットと位置合わせする;
ように構成される、
システム。 - 前記収集された空間情報のセットは、前記医療器具の前記遠位部分と前記医療器具の前記基準部分との間に延びる光ファイバ形状センサから受信される、
請求項17に記載のシステム。 - 前記処理ユニットはさらに、前記医療器具を前記解剖学的構造の通路のセット内の前記複数の場所を通って動かすよう制御装置からコマンドを受信するように構成される、
請求項17に記載のシステム。 - 前記処理ユニットはさらに、前記医療器具の前記基準部分に結合される駆動システムからエンコーダ情報を受信し、前記エンコーダ情報と、前記医療器具の前記基準部分が横切る固定挿入経路についての較正情報とに基づいて前記位置情報のセットを決定するように構成され、前記較正情報は、前記エンコーダ情報に対応する前記医療器具の前記基準部分についての較正された位置情報を含む、
請求項17に記載のシステム。
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