JP2019531117A - ロボット手術のための没入型三次元表示 - Google Patents
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Abstract
Description
本出願は、その全体が参照として本明細書に組み込まれる、米国特許出願番号62/403,655号(2016年10月3日出願)に対する優先権を主張する。
図1Bにて示すように、没入型表示140は、開放型表示128、ペダル組立体124、及び1つ以上の手持形ユーザインターフェース装置126と共に、ロボット手術システムのためのユーザコンソール120の一部であってよい。没入型表示140は、ユーザの周辺の視界錯乱を減少させて、表示環境内へとユーザを快適かつ人間工学的に没入させる様式にて、三次元(3D)及び/又は二次元(2つのD)情報をユーザに表示してよい。本没入型表示140(例えば、支持アーム142を介して座席122へと連結される表示ハウジング144)は、外科的処置(例えば、手術部位の内視鏡カメラ視野、静態像、GUIs、等)、並びに/又はロボット手術システム(例えば、状態、システム設定)、並びに/又は2D及び3Dの映像、画像、テキスト、グラフィカル・インターフェース、警告、制御、表示灯、等におけるその他の好適な情報に関連した、種々の情報を表示してよい。頭部取り付け表示の動きに完全に依存して、表示内の視界を変化させ、これにより、頭部の動きを制限してその他の器具を制御する、その他の没入型及び仮想現実頭部取り付け装置とは異なり、本明細書に記載された本没入型表示140は、没入型表示の制御及びロボット手術システムにおけるようなものなどのその他の器具の操作のために、ユーザが、頭部挙動及びその他の頭部/眼部の動きを使用して、表示された内容と相互作用することを、可能にし得る。
支持アームは、ハウジングの重量を支持するために少なくとも部分的に機能し、これにより、ハウジングがユーザの顔に係合する場合に、(例えば、ユーザの頭部又は顔において)ハウジングの重量を支える必要がない。図1Bに示すように、没入型表示140における支持アーム142は、没入型表示のハウジング144を、座席122又は座席組立体などの固定構造体へと連結させてよい。支持アーム142は、ハウジング144を所定の位置に導いて、ユーザの顔又は頭部の前面に係合させるように構成されが、没入型表示は、追加的に又は代替的に、ハウジング144をユーザの顔又は頭部へと固定しやすくするための、ストラップ又は類似の取り付け装置を含む場合がある。
図2A及び2Bにて示すように、ハウジング220は、顔フレーム222を介して、ユーザの顔と係合させるためのインターフェースを提供し、ハウジング220は少なくとも部分的に取り囲んで接眼レンズ組立体及びその他の表示構成要素を保護する。例えば、図2Bの部分的な分解図にて最良に示されるように、ハウジング220は、少なくとも左の接眼レンズ組立体230L及び右の接眼レンズ組立体230Rを受容する内容積を含む収容部であってよい。ハウジング220は、製造方法(例えば、射出成形、機械加工、3D印刷、等)の任意の好適な組み合わせを介して収容部へと形成される、比較的軽量の材料(例えば、プラスチック)から作製されてよい。ハウジング220は、1つの一体式部品であってよく、又は締着具、エポキシ等と共に収容部へと連結されたハウジング外殻などの、組み立てられた部品の組み合わせであってよい。
図2Bにて示すように、左側の接眼レンズ組立体230L及び右側の接眼レンズ組立体230Rを含む、少なくとも2つの接眼レンズ組立体は、ハウジング220内に配置され、かつ双眼鏡様式にて配列される。接眼レンズ組立体は、LCD及び/又はLEDパネル表示、光学素子(例えば、レンズ、鏡、等)、並びに電子機器を含む。例えば、いくつかの変形形態では、接眼レンズ組立体は、仮想環境及び補完現実環境(例えば、軍事目的及び/又はゲーム目的)を含む用途のために市販されている、任意の好適な接眼レンズ組立体に類似していてよく、また、当業者によく知られている。総じて、接眼レンズ組立体は、ユーザに3D表示(例えば、立体視)を提供するように構成される。3D表示は更に、2D内容を表示するように構成されてよい。1つ以上のアクチュエータは、接眼レンズ組立体間の相対位置を調節するため(例えば、眼幅の調節のため)、及び/又は、ハウジング内の深さを調節するため(例えば、ユーザの眼へと距離の調節のため)等などで、少なくとも1つの接眼レンズ組立体と一体化されてよく、又は連結してよい。ハウジングにおける、接眼レンズ組立体に関連したその他の電子機器又はその他の構成要素は、画像信号の表示及び種々の構成要素への電気供給の制御及び管理に関連してよい。いくつかの変形形態では、電子機器は、没入型表示の電気部品へと電力を供給するための、1つ以上の無線バッテリ又はその他の電源を含んでよいが、追加的に又は代替的に、没入型表示は、有線主要電源又は優先バックアップ電源に連結されてよい。
没入型表示は、没入型表示の挙動を制御する、制御システムを含んでよい。例えば、制御システムは、1つ以上のプロセッサ(例えば、マイクロプロセッサ、マイクロコントローラ、特定用途向け集積回路、フィールドプログラマブルゲートアレイ、及び/又はその他の論理回路)を含む、1つ以上の制御装置1900を含んでよい。制御装置1900は、ユーザコンソール1940の1つ以上のその他の構成要素(例えば、手持形ユーザインターフェース装置、足踏み式ユーザインターフェース装置、開放型表示、等)と連通してよい。制御装置1900は、ユーザの生体計測、ユーザの性能、ユーザのプロファイル等などの種々の項目をメモリ内に記憶させるための記憶装置1930と更に連通してよい。制御装置1900は、支持アームを作動させるための種々のモータ1912を含むがこれらに限定されない、支持アームの構成要素を制御するように構成された、支持アーム制御装置1910、及び種々のセンサ1914、並びに本明細書にて記載されたようなものなどの、支持アームの任意のその他の構成要素などの、副制御モジュールと更に連通してよい。なお、制御装置1900は、接眼レンズ組立体1922、センサ1924、モータ1926、及び本明細書にて記載されたようなものなどの、表示ハウジング内の任意のその他の構成要素を含むがこれらに限定されない、没入型表示のハウジングの構成要素を制御するように構成された、ハウジング制御装置1920と連通してよい。あるいは、制御装置1900は、支持アーム及び/又はハウジングの構成要素と直接インターフェース接続し、これにより、支持アーム及びハウジングのための副制御モジュール1910及び1920が、それぞれ省略されてよい。
一般に、没入型表示は、いくつかのモード又は状態のうち1つ以上にて、操作されてよい。これらのモード及び/又は任意のその他のモード間の移行は、没入型表示の(例えば、支持アーム及び/又はハウジングにおける)センサとの相互作用、及び、追加的に又は代替的に、没入型表示に関係するユーザコンソールにおけるその他の補助センサを介して、ユーザにより指示されてよい。そのようなものであるから、種々のモード間の切り換えは、例えば、状態マシン/制御装置により取り扱ってよい。
Claims (20)
- ロボット手術システムにおいて使用するための没入型表示であって、
支持アームと、
前記支持アームに取り付けられ、かつユーザの顔と係合するように構成されたハウジングと、
前記ハウジング内に配置され、かつ三次元表示を提供するように構成された、少なくとも2つの接眼レンズ組立体と、
前記ロボット手術システムの操作を可能にする、少なくとも1つのセンサと、を含み、
前記支持アームが、人間工学的位置決めのために、前記ハウジングを移動させるように作動可能な、没入型表示。 - 前記支持アームが関節構造を呈し、かつ複数の継手を備える、請求項1に記載の没入型表示。
- 前記ハウジングに連結された少なくとも1つのシールドを更に備え、前記シールドが前記ユーザの視界の少なくとも一部を覆い隠すように構成される第1位置と、前記シールドが前記ユーザの前記視界の一部を露呈するように構成される第2位置との間で、前記シールドが移動可能である、請求項1に記載の没入型表示。
- 前記ハウジングが、前記ユーザの前記顔に係合するように構成された、輪郭形成された顔フレームに連結される、請求項1に記載の没入型表示。
- 前記支持アームが、前記ハウジングの第1部分に連結し、また前記顔フレームが、前記ハウジングの前記第1部分に対して移動可能である、前記ハウジングの第2部分に連結する、請求項4に記載の没入型表示。
- 前記ハウジングに連結された少なくとも1つの補助表示を更に備える、請求項1に記載の没入型表示。
- 少なくとも1つの前記接眼レンズ組立体が、左眼の立体視画像を表示するように構成され、また少なくとも1つの前記接眼レンズ組立体が、右目の立体視画像を表示するように構成される、請求項1に記載の没入型表示。
- 前記センサが、前記ロボット手術システムの操作を認証するために、ユーザを識別するように構成される、請求項1に記載の没入型表示。
- 前記ハウジングに連結され、前記ハウジングの位置を監視する、少なくとも1つの追跡装置を更に備える、請求項1に記載の没入型表示。
- 少なくとも1つのセンサが、前記ユーザの頭部挙動を検出するように構成される、請求項1に記載の没入型表示。
- 前記ユーザの検出された頭部挙動に応答して、前記支持アームが前記ハウジングを移動させて、前記頭部挙動を追跡する、請求項10に記載の没入型表示。
- 前記センサが、前記ロボット手術システムの操作のために、前記ユーザの頭部挙動を監視するように構成される、請求項10に記載の没入型表示。
- 前記三次元表示が、前記ロボット手術システムにて使用される内視鏡カメラからの、少なくとも1つの画像を表示するように構成される、請求項1に記載の没入型表示。
- 前記没入型表示が、前記接眼レンズ組立体及びユーザの手の位置の相対的空間関係と、前記内視鏡カメラ及び外科用器具の相対的空間関係との間の応答を維持するための、誘導を提供するように構成される、請求項13に記載の没入型表示。
- 前記ユーザの頭部挙動を検出する少なくとも1つのセンサに応答して、前記三次元表示が、前記内視鏡カメラからの修正画像を表示するように構成される、請求項13に記載の没入型表示。
- 前方向の頭部挙動を検出するセンサに応答して、前記三次元表示が、内視鏡からのズームイン画像を表示するように構成され、また後方向の頭部挙動を検出するセンサに応答して、前記三次元表示が、前記内視鏡カメラからのズームアウト画像を表示するように構成される、請求項15に記載の没入型表示。
- 横方向の頭部挙動を検出するセンサに応答して、前記三次元表示が、前記内視鏡からのパンニング画像を表示するように構成され、また傾斜頭部挙動を検出するセンサに応答して、前記三次元表示が、前記内視鏡カメラからの傾斜画像を表示するように構成される、請求項15に記載の没入型表示。
- 前記三次元表示が、グラフィカル・ユーザ・インターフェースを表示するように構成され、また少なくとも1つのセンサが、前記グラフィカル・ユーザ・インターフェースのナビゲーションために、頭部挙動を検出するように構成される、請求項1に記載の没入型表示。
- 前記三次元表示が、少なくとも1つの目的位置に対する、ユーザの手の位置及びユーザの足の位置のうち少なくとも1つの視覚的表現を表示するように構成される、請求項1に記載の没入型表示。
- 前記ハウジングに連結された少なくとも1つの外部カメラを更に含み、前記外部カメラが、前記ハウジングの外部環境の少なくとも1つの画像を提供するように構成される、請求項1に記載の没入型表示。
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