JP2019010530A - 介入処置計画のためのシステム及び方法 - Google Patents
介入処置計画のためのシステム及び方法 Download PDFInfo
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Abstract
Description
Claims (39)
- 処理システムによって実行される介入器具の作動方法であって:
前記処理システムが、複数の通路を含む解剖学的構造のモデルを受けること;
前記処理システムが、前記モデルにおける標的構造を特定すること;
前記処理システムが、前記複数の通路内における前記介入器具の操作性能に関する情報を受けること;及び
前記処理システムが、前記介入器具の前記操作性能に基づき、前記標的構造で処置を実行すべく前記介入器具の遠位端を位置付けるための前記複数の通路の壁にある複数のオプション的配置位置を特定することであって、前記複数のオプション的配置位置は、前記処置を実行するための計画的配置位置を含む、複数のオプション的配置位置を特定すること、
を含む方法。 - 前記計画的配置位置を特定することは、前記介入器具の1又は複数の特性を表すデータを受けることを含み、
前記1又は複数の特性は用具展開長さを含む、
請求項1の方法。 - 前記計画的配置位置を特定することは、前記介入器具の1又は複数の特性を表すデータを受けることを含み、
前記1又は複数の特性は前記介入器具の屈曲性能を含む、
請求項1の方法。 - 前記計画的配置位置を特定することは、前記介入器具の1又は複数の特性を表すデータを受けることを含み、
前記介入器具はカテーテル本体及び介入用具を含み、
前記1又は複数の特性は前記カテーテル本体に対する前記介入用具の運動特性を含む、
請求項1の方法。 - 前記計画的配置位置を特定することは、前記複数の通路の特性を表すデータを受けることを含む、
請求項1の方法。 - 前記複数の通路の特性は、前記標的構造に最も近い前記複数の通路のサイズを含む、
請求項5の方法。 - 前記複数の通路の特性は、前記複数の通路のうちの少なくとも2つが分岐する領域の位置を含む、
請求項5の方法。 - 前記複数の通路の特性は、前記複数の通路の弾性を含む、
請求項5の方法。 - 前記計画的配置位置を特定することは、前記標的構造の特性を表すデータを受けることを含む、
請求項1乃至8のいずれか1項の方法。 - 前記標的構造の特性は、石灰化の位置を含む、
請求項1乃至9のいずれか1項の方法。 - 前記計画的配置位置を特定することは、前記複数の通路のうちの1つにおける予備的配置位置を特定すること、及び、前記標的構造の修正位置を示すセンサデータの受け取りに基づいて前記予備的配置位置を前記計画的配置位置に修正することを含む、
請求項1乃至10のいずれか1項の方法。 - 前記センサデータは、前記介入器具の遠位端に対する前記標的構造の位置を表す超音波センサデータを含む、
請求項11の方法。 - 前記センサデータは、前記介入器具の遠位端に対する前記標的構造の位置を表すOCTセンサデータを含む、
請求項11の方法。 - 前記複数のオプション的配置位置は、前記処置を実行すべく前記介入器具を配置するために前記複数のオプション的配置位置の相対的品質に関する情報を提供するようにコード化される、
請求項1乃至13のいずれか1項の方法。 - 前記処置は生検処置である、
請求項1乃至14のいずれか1項の方法。 - 計画的配置を特定することは、臨床医が特定した配置位置を受けることを含む、
請求項1乃至15のいずれか1項の方法。 - 前記臨床医が特定した配置位置が好ましくないことを示す警告を前記処理システムが出すことを更に含む、
請求項16の方法。 - 前記計画的配置位置において、前記介入器具の遠位端と通路壁との間のアプローチ角はおおよそ30°と90°の間である、
請求項1乃至17のいずれか1項の方法。 - 介入器具を配置するための処置を計画するためのコンピュータが実行可能な命令を記憶する非一時的コンピュータ可読媒体を有するシステムであって:
前記コンピュータが実行可能な命令は、
複数の通路を含む解剖学的構造のモデルを受ける命令;
前記モデルにおける標的構造を特定する命令;
前記複数の通路内における前記介入器具の操作性能に関する情報を受ける命令;及び
前記介入器具の操作性能に基づいて前記標的構造で前記処置を実行すべく前記介入器具の遠位端を位置付けるための前記複数の通路の壁にある複数のオプション的配置位置を特定する命令であって、前記複数のオプション的配置位置は、前記処置を実行するための計画的配置位置を含む、命令;
を含む、システム。 - 前記介入器具を更に含む、
請求項19のシステム。 - 前記計画的配置位置を特定することは、前記介入器具の1又は複数の特性を表すデータを受けることを含み、
前記1又は複数の特性は用具展開長さを含む、
請求項19のシステム。 - 前記計画的配置位置を特定することは、前記介入器具の1又は複数の特性を表すデータを受けることを含み、
前記1又は複数の特性は前記介入器具の屈曲性能を含む、
請求項19のシステム。 - 前記計画的配置位置を特定することは、前記介入器具の1又は複数の特性を表すデータを受けることを含み、
前記介入器具はカテーテル本体及び介入用具を含み、
前記1又は複数の特性は前記カテーテル本体に対する前記介入用具の運動特性を含む、
請求項19のシステム。 - 前記計画的配置位置を特定することは、前記複数の通路の特性を表すデータを受けることを含む、
請求項19乃至23のいずれか1項のシステム。 - 前記複数の通路の特性は、前記標的構造に最も近い前記複数の通路のサイズを含む、
請求項24のシステム。 - 前記複数の通路の特性は、前記複数の通路のうちの少なくとも2つが分岐する領域の位置を含む、
請求項24のシステム。 - 前記複数の通路の特性は、前記複数の通路の弾性を含む、
請求項24のシステム。 - 前記計画的配置位置を特定することは、前記標的構造の特性を表すデータを受けることを含む、
請求項19乃至27のいずれか1項のシステム。 - 前記標的構造の特性は、石灰化の位置を含む、
請求項19乃至28のいずれか1項のシステム。 - 前記計画的配置位置を特定することは、前記複数の通路のうちの1つにおける予備的配置位置を特定すること、及び、前記標的構造の修正位置を示すセンサデータの受け取りに基づいて前記予備的配置位置を前記計画的配置位置に修正することを含む、
請求項19乃至29のいずれか1項のシステム。 - 前記センサデータは、前記介入器具の遠位端に対する前記標的構造の位置を表す超音波センサデータを含む、
請求項30のシステム。 - 前記センサデータは、前記介入器具の遠位端に対する前記標的構造の位置を表すOCTセンサデータを含む、
請求項30のシステム。 - 前記複数のオプション的配置位置は、前記処置を実行すべく前記介入器具を配置するために前記複数のオプション的配置位置の相対的品質に関する情報を提供するようにコード化される、
請求項19乃至32のいずれか1項のシステム。 - 前記処置は生検処置である、
請求項19乃至33のいずれか1項のシステム。 - 計画的配置を特定することは、臨床医が特定した配置位置を受けることを含む、
請求項19乃至34のいずれか1項のシステム。 - 前記臨床医が特定した配置位置が好ましくないことを示す警告を出す命令を更に含む、
請求項35のシステム。 - 前記計画的配置位置において、前記介入器具の遠位端と通路壁との間のアプローチ角はおおよそ30°と90°の間である、
請求項19乃至36のいずれか1項のシステム。 - 処理システムによって実行されるカテーテルから展開される介入用具の作動方法であって:
前記処理システムが、複数の通路を含む解剖学的構造のモデルを受けること;
前記処理システムが、前記モデルにおける標的構造を特定すること;
前記処理システムが、前記カテーテルの遠位端に対する前記介入用具の伸張長さに関する情報を受けること;及び
前記処理システムが、受け取った前記介入用具の伸張長さに関する情報に基づいて、前記標的構造で介入処置を実行すべく前記カテーテルの遠位端を位置付けるための前記複数の通路の壁にある複数のオプション的配置位置を特定することであって、前記複数のオプション的配置位置は、前記介入処置を実行するための計画的配置位置を含む、複数のオプション的配置位置を特定すること;
を含む方法。 - 処理システムによって実行される介入システムの作動方法であって:
前記処理システムが、複数の通路を含む解剖学的構造のモデルを受けること;
前記処理システムが、前記モデルにおいて標的構造を特定すること;
前記処理システムが、介入器具の遠位端を位置付けるための計画的配置位置を特定すること;
前記処理システムが、前記標的構造の手術画像を生成するためにセンサを稼働させること;及び
前記処理システムが、少なくとも部分的には前記標的構造の手術画像に基づき、前記標的構造で介入処置を実行すべく前記介入器具の遠位端を位置付けるための前記複数の通路の壁にある複数のオプション的配置位置を特定することであって、前記複数のオプション的配置位置は、前記介入処置を実行するための修正配置位置を含む、複数のオプション的配置位置を特定することであって;
を含む方法。
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