JP2019162512A - カテーテルの位置付け及び挿入のためのグラフィカル・ユーザインターフェイス - Google Patents
カテーテルの位置付け及び挿入のためのグラフィカル・ユーザインターフェイス Download PDFInfo
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Abstract
Description
一実施形態では、患者の解剖学的構造内に介入器具を案内する方法は、患者の解剖学的構造内の標的位置を処理するステップと、患者の解剖学的構造内の第1の位置における介入器具のチップ部分の位置を受信するステップとを含む。この方法はまた、第1の位置と標的位置との間の3次元距離を測定するステップと、標的位置を表すシンボル及び介入器具のチップ部分を表すシンボルを表示するステップとを含む。
本発明の追加の態様、特徴、及び利点は、以下の詳細な説明から明らかになるであろう。
例えば、カテーテルの先端チップ姿勢の履歴が、時間間隔に亘って保存される場合に、姿勢履歴を使用して、その時間間隔に亘ってこのデバイスの形状を再構築することができる。別の例として、過去の姿勢、位置、又は向きデータは、呼吸等の交互に行われる動作サイクルに従った器具の既知の点として保存することができる。この保存データを使用して、カテーテルに関する形状情報を開発することができる。あるいはまた、カテーテルに沿って配置されたEMセンサー等の一連の位置センサーを、形状検知のために使用することができる。あるいはまた、手術中に器具上のEMセンサー等の位置センサーからの履歴データを使用して、特に解剖学的経路が略静止している場合には、器具の形状を表すことができる。あるいはまた、外部磁場により制御される位置又は向きを有する無線装置を、形状検出のために使用することができる。その位置の履歴を使用して、ナビゲートする経路の形状を判定することができる。
であり、ここで、(x2,y2,z2)は標的の位置であり、(x1,y1,z1)はチップ部分の位置である。
Claims (6)
- システムであって、当該システムは:
患者の解剖学的構造内に介入器具を案内するためのコンピュータ実行可能命令を含む非一時的なコンピュータ可読媒体を有しており、前記コンピュータ実行可能命令は:
前記患者の解剖学的構造内の標的位置を処理するための命令と;
前記患者の解剖学的構造内の第1の位置における介入器具のチップ部分の第1の位置指標を受信するための命令と;
前記標的位置を表すシンボル、前記介入器具の前記チップ部分を表すシンボル、第1の位置と前記標的位置との間の方向を表すシンボル、及び第1の位置と前記標的位置との間の挿入距離の成分を表すシンボルを含むナビゲーション支援画像を第1のウィンドウに、
内視鏡カメラ画像を第2のウィンドウに、
モデル化した仮想内視鏡画像を第3のウィンドウに、
モデル化した仮想経路画像を第4のウィンドウに、
前記標的位置にマークを含む前記患者の解剖学的構造の手術前画像を第5のウィンドウに、同時に表示するための命令と;を含む、
システム。 - 前記同時に表示するための命令は、第1、第2、第3、第4、及び第5のウィンドウを単一のディスプレイ画面に表示するための命令を含む、
請求項1に記載のシステム。 - 第1の位置と前記標的位置との間の3次元距離を変化させる際に、前記挿入距離の成分を表すシンボルのサイズを変更するための命令をさらに含む、
請求項1に記載のシステム。 - 前記患者の解剖学的構造内の第2の位置における前記介入器具の前記チップ部分の第2の位置指標を受信するための命令と;
第2の位置指標を受信することに応答して、第1、第2、第3、及び第4のウィンドウの画像を更新するための命令と;をさらに含む、
請求項1に記載のシステム。 - 前記患者の解剖学的構造内の第1の位置における前記介入器具の前記チップ部分の第1の方向指標を受信するための命令をさらに含む、
請求項1に記載のシステム。 - 前記ナビゲーション支援画像を少なくとも1つの他の画像と回転によって位置合わせするための命令をさらに含む、
請求項1に記載のシステム。
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US12004850B2 (en) | 2024-06-11 |
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