JP2019534734A - 誘導される処置システム - Google Patents
誘導される処置システム Download PDFInfo
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Abstract
Description
[0003]処置中、コンピュータ援用外科用(CAS)システムが、外科医などのユーザを支援するために使用され得る。処置は、脳における腫瘍切除および/または組織の除去などの外科的処置を含み得る。CASシステムは、外科用ナビゲーションシステムと呼ばれることもあり、患者の一部の画像をディスプレイ上に表示することを可能にする。たとえば、外科用ナビゲーションシステムは、米国コロラド州に事業所を有する、Medtronic Navigation,Inc.によって販売される、Stealth Station(登録商標) S7(登録商標)外科用ナビゲーションシステムを含み得る。外科用ナビゲーションシステムは、ユーザが、患者および画像における基準点を識別するなどの重ね合わせ技術を用いて、画像空間を実空間または患者空間に重ね合わせることを可能にする。重ね合わせは、患者から離れて配置された画面上に表示された画像に適用され得る。ディスプレイは、ブラウン管(CRT)モニタおよび/またはViewSonic Corporationによって販売されるビデオモニタなどのバックライトディスプレイを含むフラットパネルモニタなどのモニタであり得る。ディスプレイは患者から離して配置されるため、ユーザがディスプレイ上の画像と、患者とを同時に見ることは、少なくとも同一の実空間にいることを含めて、難しい場合がある。
[0021]例示の実施形態をここで、添付図面を参照してより完全に説明することにする。
Claims (24)
- 対象に関連して画像を視認するためのシステムであって、
表示部および透明部を備える表示デバイスであって、前記表示デバイスを通して視認するユーザが、前記対象および前記対象に関連した前記画像を視認することが可能になるように構成された、表示デバイスと、
ローカライザおよび追跡デバイスを備える追跡システムであって、前記ローカライザが前記追跡デバイスを現実3次元空間で追跡するように構成された、追跡システムと、
前記追跡デバイスの追跡位置を決定するための命令を実行し、前記対象に関連して前記追跡デバイスの前記追跡位置を表すために、前記表示デバイスを用いてアイコンを表示するように構成された、処理システムとを備える、
システム。 - 前記表示デバイスが、前記ユーザによって装着されるように構成された装着型デバイスに組み込まれており、
前記表示デバイスの前記表示部が、前記処理システムによって駆動されるように構成された代替可能なディスプレイを含む、
請求項1に記載のシステム。 - 非装着型ディスプレイをさらに備え、
前記装着型デバイスが、前記ユーザにヘッドマウントされ、前記非装着型ディスプレイは、前記ユーザから離れて配置される、
請求項2に記載のシステム。 - 前記装着型デバイスが、前記対象に関連して前記画像を3次元の画像として表示するように構成された、
請求項2または3に記載のシステム。 - 前記3次元の画像が、前記対象と同一の空間に出現することが知覚されるように構成された複合現実画像である、
請求項4に記載のシステム。 - 前記画像が、少なくとも、前記対象空間内の3次元座標と前記画像内の3次元座標との間で剛体変換を実行するために命令を実行する、前記処理システムによって、前記対象に重ね合わせられるように構成され、
前記対象空間内の前記3次元座標が、前記装着型デバイスに関連して決定される、
請求項2から5のいずれか一項に記載のシステム。 - 前記装着型デバイスが、距離計測デバイスを備え、
前記距離計測デバイスが、前記対象の前記3次元座標を画定するために前記対象のポイントクラウドを取得するように構成された、
請求項6に記載のシステム。 - 対象に関連して画像を視認するためのシステムであって、
表示部および距離計測部を備える装着型複合現実表示デバイスであって、前記表示部は、前記装着型複合現実表示デバイスを装着したユーザが前記対象および前記対象に関連した前記画像を視認することが可能になるように構成された透明部を備え、前記距離計測部は、複数の対象空間3次元座標を前記装着型複合現実表示デバイスに関連して決定するように構成された、装着型複合現実表示デバイスと、
画像3次元座標と前記複数の対象空間3次元座標とに基づいて、前記画像を前記対象に選択的に重ね合わせるために命令を実行するように構成された、処理システムとを備え、
前記処理システムが、デバイス追跡可能部の追跡位置を決定するために命令を実行し、前記対象に関連して前記デバイス追跡可能部の前記追跡位置を表すために前記装着型複合現実表示デバイスを用いてアイコンを表示するようにさらに構成される、
システム。 - 前記装着型複合現実表示デバイスの前記表示部が、前記画像を前記対象に重ね合わせる前にまたは後に、前記対象から離れて前記画像を表示する構成で動作可能である、
請求項8に記載のシステム。 - 前記アイコンが、手術計画を準備するために動作可能であり、
メモリシステムが、前記デバイス追跡可能部である器具の少なくとも軌道を含む前記手術計画を格納するように構成され、
前記処理システムが、前記手術計画を読み出すように構成された、
請求項8または9に記載のシステム。 - 前記距離計測部が、前記デバイス追跡可能部の前記追跡位置を決定するための前記デバイス追跡可能部を追跡するように構成された追跡システムである、
請求項8から10のいずれか一項に記載のシステム。 - 音声入力をさらに備え、
前記処理システムが、前記装着型複合現実表示デバイスの少なくとも前記表示部および前記距離計測部を操作するように構成され、
前記音声入力が、少なくとも前記表示部を用いて前記画像を表示し前記画像を前記対象に重ね合わせるように命令するために、前記ユーザから口頭の指令を受け取るように構成された、
請求項8から11のいずれか一項に記載のシステム。 - 表示部を備える遠隔地装着型複合現実表示デバイスをさらに備え、前記表示部は、前記遠隔地装着型複合現実表示デバイスを装着した遠隔地ユーザが、前記装着型複合現実表示デバイスを用いた前記ユーザによって視認されるような前記画像を視認するように構成された、
請求項8から12のいずれか一項に記載のシステム。 - ローカライザおよび追跡デバイスを備える追跡システムであって、前記ローカライザが前記追跡デバイスを前記対象に関連して追跡するように構成された、追跡システムと、
前記追跡デバイスを備える器具とをさらに備え、
前記器具が、シャント、生検針、アブレーションカテーテル、切除器具、刺激プローブ、ナビゲーションプローブ、またはそれらの組合せのうちの少なくとも1つを備える、
請求項8から13のいずれか一項に記載のシステム。 - 対象に関連して画像を視認する方法であって、
表示部および距離計測部を備える装着型複合現実表示デバイスを装着するステップであって、前記表示部が、前記装着型複合現実表示デバイスを装着したユーザが前記対象および前記対象に関連した前記画像を視認することが可能になるように構成された透明部を備える、ステップと、
前記距離計測部が、複数の対象空間3次元座標を前記装着型複合現実表示デバイスに関連して決定するように命令するステップと、
画像3次元座標と前記複数の対象空間3次元座標とに基づいて、前記画像を前記対象に選択的に重ね合わせるために命令を実行するように処理システムに命令するステップと、
前記対象に関連して前記画像を視認するステップとを含む、
方法。 - 前記装着型複合現実表示デバイスを装着している間に、前記対象を視認するために、前記処理システムによって前記ユーザに指示するステップをさらに含む、
請求項15に記載の方法。 - 追跡システムを用いて追跡デバイスを追跡するステップと、
前記追跡デバイスの追跡位置を決定するために、前記処理システムを用いて命令を実行するステップと、
前記対象に関連して前記追跡デバイスの前記追跡位置を表すために、前記装着型複合現実表示デバイスを用いてアイコンを表示するステップとをさらに含む、
請求項15または16に記載の方法。 - 追跡システムを用いて追跡デバイスを追跡するステップと、
前記追跡デバイスの追跡位置を決定するために、前記処理システムを用いて命令を実行するステップと、
前記重ね合わされた画像上に重畳された前記追跡デバイスの前記追跡位置を表すために、前記装着型複合現実表示デバイスを用いてアイコンを表示するステップとをさらに含む、
請求項15または16に記載の方法。 - 前記装着型複合現実表示デバイスを用いて前記画像を視認することによって、処置を計画するステップと、
メモリシステムを用いて前記計画を保存するステップとをさらに含む、
請求項15から18のいずれか一項に記載の方法。 - 前記計画を読み出すために、前記処理システムを操作するステップと、
前記装着された装着型複合現実表示デバイスの前記表示部を用いてアイコンを表示するステップとをさらに含む、
請求項19に記載の方法。 - 前記対象と前記アイコンとを両方同時に視認するステップをさらに含む、
請求項20に記載の方法。 - 刺激器具の位置を追跡するステップと、
前記刺激器具を用いて前記対象の一部分を刺激するステップと、
前記刺激された部分に注釈をつけるために、前記装着型複合現実表示デバイスを用いて前記対象上に重畳されるアイコンを表示するステップとをさらに含む、
請求項18に記載の方法。 - 前記装着型複合現実表示デバイスを装着している間に、前記対象の蛍光部を視認するステップと、
前記装着型複合現実表示デバイスを用いて前記対象上に重畳された前記対象の前記蛍光部の表示を表示するステップとをさらに含む、
請求項18に記載の方法。 - 前記対象の重ね合わされた画像を自動的に取得するステップと、
前記対象の取得された自動的に重ね合わされた画像を、前記装着型複合現実表示デバイスを用いて視認するステップと、
ステントの注入のための位置を計画するステップと、
前記視認された自動的に重ね合わされた前記対象の画像上に重畳された前記ステントの追跡位置を表すために、前記装着型複合現実表示デバイスを用いてアイコンを表示するステップとをさらに含む、
請求項15から23のいずれか一項に記載の方法。
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AU2017332140A1 (en) | 2019-04-18 |
CN109996511B (zh) | 2022-06-28 |
WO2018057564A1 (en) | 2018-03-29 |
US11839433B2 (en) | 2023-12-12 |
KR20190058528A (ko) | 2019-05-29 |
CA3037860A1 (en) | 2018-03-29 |
CN109996511A (zh) | 2019-07-09 |
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