JP2018518218A - 外科手術システムを制御するための手術器具のトラッキング - Google Patents
外科手術システムを制御するための手術器具のトラッキング Download PDFInfo
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
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- 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
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- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F9/00—Methods or devices for treatment of the eyes; Devices for putting-in contact lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
- A61F9/007—Methods or devices for eye surgery
- A61F9/00736—Instruments for removal of intra-ocular material or intra-ocular injection, e.g. cataract instruments
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
- G06F1/16—Constructional details or arrangements
- G06F1/1613—Constructional details or arrangements for portable computers
- G06F1/163—Wearable computers, e.g. on a belt
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
- G06F3/0481—Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance
- G06F3/0482—Interaction with lists of selectable items, e.g. menus
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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
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00207—Electrical control of surgical instruments with hand gesture control or hand gesture recognition
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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
- A61B2034/2048—Tracking techniques using an accelerometer or inertia sensor
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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
- A61B2034/2055—Optical 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
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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
- A61B2034/254—User interfaces for surgical systems being adapted depending on the stage of the 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
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/371—Surgical systems with images on a monitor during operation with simultaneous use of two cameras
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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
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/372—Details of monitor hardware
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Abstract
Description
Claims (22)
- 外科手術システムであって、
顕微鏡と、
制御ユニットと、
手術器具と、
前記手術器具の動きをトラッキングするためのトラッキングユニットと、
前記手術器具の時空間的情報を得るために前記手術器具の前記動きを処理するための処理ユニットと、を備え、
前記制御ユニットが、多数の制御コマンドを含む制御入力ユニットを更に備え、前記制御ユニットが、前記制御入力ユニットと前記手術器具の前記時空間的情報とを関連付けて、対応する制御コマンドを前記外科手術システムに適用することによって制御動作を特定する、外科手術システム。 - 前記顕微鏡に構成されたヘッドアップ表示装置を更に備え、前記ヘッドアップ表示装置が、使用者にシステム状況を知らせる、又は前記使用者が前記対応する制御コマンドを確認できるようにする、請求項1に記載の外科手術システム。
- 前記トラッキングユニットが、前記手術器具及び手術部位の少なくとも1つの画像をキャプチャする画像化ユニットを含む、請求項2に記載の外科手術システム。
- 前記制御コマンドのそれぞれが、運動パターンに関連し、前記手術器具の前記時空間的情報が、前記手術器具の遠位端部の運動パターンを備える、請求項3に記載の外科手術システム。
- 前記制御入力ユニットが、前記ヘッドアップ表示装置によって表示される仮想グラフィックユーザーインターフェイスを更に備え、前記制御コマンドのそれぞれが、前記仮想グラフィックユーザーインターフェイスにアイコンとして表示される、請求項2に記載の外科手術システム。
- 前記手術器具の前記時空間的情報が、前記手術器具の遠位端部の運動パターンを備える、請求項5に記載の外科手術システム。
- 前記仮想グラフィックユーザーインターフェイスが、前記手術部位から一定距離の仮想平面に表示される、請求項5に記載の外科手術システム。
- 前記制御コマンドが、前記仮想グラフィックユーザーインターフェイスの中心又は周辺に配置される、請求項5に記載の外科手術システム。
- 第2の画像化ユニットを更に備える、請求項3に記載の外科手術システム。
- 前記手術器具の前記時空間的情報が3次元の情報を備える、請求項9に記載の外科手術システム。
- 前記トラッキングユニットが、前記手術器具に取り付けられた1つ以上のトラッキングセンサーを備える、請求項1に記載の外科手術システム。
- 前記トラッキングユニットが、3次元運動パターンを生成する、請求項11に記載の外科手術システム。
- 第2の手術器具を更に備える、請求項1に記載の外科手術システム。
- 制御システムが、使用者が前記手術器具の運動のトラッキングを再開又はキャンセルすることができるようなリセットユニットを更に備える、請求項1に記載の外科手術システム。
- 外科手術システムを制御するための方法であって、
手術器具制御モードを開始するステップと、
手術器具をトラッキングして前記手術器具の動きを得るステップと、
前記手術器具の動きを処理して、前記手術器具の時空間的情報を得るステップと、
制御入力ユニットと前記手術器具の前記時空間的情報とを関連付けることによって制御動作を特定するステップと、
対応する制御コマンドを前記外科手術システムに適用するステップと、を含む、方法。 - 前記手術器具制御モードをリセット又はキャンセルするステップを更に含む、請求項15に記載の方法。
- 前記手術器具を組織から離すための命令を出すステップを更に含む、請求項15に記載の方法。
- 対応する制御コマンドが実行されたという表示を提供するステップを更に含む、請求項15に記載の方法。
- 外科手術システムの状況を知らせるステップを更に含む、請求項15に記載の方法。
- 前記対応する制御コマンドを前記外科手術システムに適用してから、前記手術器具を更にトラッキングするステップを更に含む、請求項15に記載の方法。
- 前記対応する制御コマンドが確認されなかった場合に前記手術器具を更にトラッキングするステップを更に含む、請求項15に記載の方法。
- 前記手術器具が組織に近接しているという表示を仮想グラフィックユーザーインターフェイスに表示するステップを更に含む、請求項15に記載の方法。
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US14/712,186 | 2015-05-14 | ||
US14/712,186 US20160331584A1 (en) | 2015-05-14 | 2015-05-14 | Surgical tool tracking to control surgical system |
PCT/US2016/019146 WO2016182611A1 (en) | 2015-05-14 | 2016-02-23 | Surgical tool tracking to control surgical system |
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EP (1) | EP3265008B1 (ja) |
JP (1) | JP6697482B2 (ja) |
CN (1) | CN107530133A (ja) |
AU (1) | AU2016260929A1 (ja) |
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2016
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- 2016-02-23 JP JP2017555761A patent/JP6697482B2/ja active Active
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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JP7461689B2 (ja) | 2021-09-10 | 2024-04-04 | アナウト株式会社 | 推論装置、情報処理方法、及びコンピュータプログラム |
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US20160331584A1 (en) | 2016-11-17 |
US20180360653A1 (en) | 2018-12-20 |
EP3265008B1 (en) | 2024-06-05 |
CN107530133A (zh) | 2018-01-02 |
EP3265008A1 (en) | 2018-01-10 |
CA2980545A1 (en) | 2016-11-17 |
JP6697482B2 (ja) | 2020-05-20 |
AU2016260929A1 (en) | 2017-10-05 |
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