JP2020054832A - 手術シーンの定量的三次元撮像 - Google Patents
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Abstract
Description
この出願は、2014年3月28日に出願された「QUANTITATIVE THREE-DIMENSIONAL IMAGING OF SURGICAL SCENES」という名称の米国仮特許出願第61/971,749号の優先権の利益を主張し、その全文を参照としてここに援用する。
Nは、撮像センサのピクセル寸法であり、
nx1は、x方向におけるS11平面の原点からのピクセルの数において表わされる標的地点Tの位置であり、
ny1は、y方向におけるS11平面の原点からのピクセルの数において表わされる標的地点Tの位置であり、
nx2は、x方向におけるS12平面の原点からのピクセルの数において表現される標的地点Tの位置であり、
ny2は、y方向におけるS12平面の原点からのピクセルの数において表現される標的地点Tの位置であり、
θは、視野の角度である。
nx3は、x方向におけるS13平面の原点からのピクセルの数において表現される標的地点Tの位置であり、
ny3は、y方向におけるS13平面の原点からのピクセルの数において表現される標的地点Tの位置である。
Claims (13)
- 内視鏡と、
該内視鏡に隣接する視野を撮像するよう配置される、同一平面の重なり合う視野を有する少なくとも3つの撮像センサを含む、画像センサアレイであって、各センサは、他のセンサのピクセルアレイと分離されるピクセルアレイを含む、画像センサアレイと、
前記視野を照らすよう配置される光源と、
コントローラとを含み、該コントローラは、前記画像センサアレイ内の前記少なくとも3つの撮像センサの各撮像センサのピクセルアレイから物理的世界シーンの画像を取り込むことによって前記画像センサアレイを使用して取り込まれる画像情報に基づいて標的物体の三次元場所を決定して、前記取り込まれる物理的世界シーン内の基準画像を特定し、且つ該基準画像と前記画像センサアレイ内の前記少なくとも3つの撮像センサの各撮像センサの前記ピクセルアレイから取り込まれる前記物理的世界シーンの画像との間のベストマッチを探して、同じ標的物体の投影によって照らされる前記少なくとも3つの撮像センサの前記ピクセルアレイの各ピクセルアレイ内のピクセル場所を特定する、ように構成される、
デバイス。 - 前記光源は、非構造光のみを生成する、請求項1に記載のデバイス。
- 前記光源は、白色光を生成する、請求項1に記載のデバイス。
- 前記内視鏡は、第1の端部分と、該第1の端部分と反対の第2の端部分とを有する、細長い部分を含み、
前記画像センサアレイは、前記第1の端部分に隣接して配置される、
請求項1に記載のデバイス。 - 前記内視鏡は、第1の端部分と、該第1の端部分と反対の第2の端部分とを有する細長い部分を含み、
前記画像センサアレイは、前記第1の端部分に隣接して配置され、
前記光源は、白色光を生成する、
請求項1に記載のデバイス。 - 前記内視鏡は、第1の端部分と、該第1の端部分と反対の第2の端部分とを有する、細長い部分を含み、
前記画像センサアレイは、前記第1の端部分に隣接して配置され、
当該デバイスは、
前記第1の端部分に隣接する視野から前記第1の端部分から変位させられる前記画像センサアレイに画像を送るよう配置される、ライトパイプを更に含む、
請求項1に記載のデバイス。 - 前記内視鏡は、第1の端部分を有する細長い部分を含み、
前記画像センサアレイは、前記第1の端部分に隣接して配置され、
前記細長い部分の前記第1の端部分の反対側の前記内視鏡の端は、機械的手術アームとの機械的連結のために構成される、
請求項1に記載のデバイス。 - 前記内視鏡は、第1の端部分と、該第1の端部分と反対の第2の端部分とを有する、細長い部分を含み、
前記画像センサアレイは、前記第1の端部分から変位させられて配置され、
前記第2の端部分は、機械的手術アームとの機械的連結に適し、
前記第1の端部分に隣接する視野から前記第1の端部分から変位させられる前記画像センサアレイに画像を送るよう配置されるライトパイプを更に含む、
請求項1に記載のデバイス。 - 前記標的物体の前記三次元場所は、少なくとも部分的に、特定されるピクセルと前記画像センサアレイの物理的特性との間のピクセル距離関係に基づき、決定される、請求項1に記載のデバイス。
- 前記ピクセル場所を特定することは、前記画像センサアレイの多数のアレイの各々において同じ標的物体の画像投影を整合させることを含む、請求項1に記載のデバイス。
- 前記コントローラは、
同じ標的物体からの投影によって照らされる多数の画像センサの各々におけるピクセルを特定するように構成され、
ピクセルを特定することは、多数の画像センサの各々における前記同じ標的物体を整合させるために相関プロセスを用いることを含み、
前記三次元場所を決定することは、少なくとも部分的に、少なくとも3つの特定されるピクセルの相対的な位置に基づき、少なくとも1つの次元における前記標的物体の推定場所を決定することを含み、
受け入れ可能な許容差よりも多く異なる前記決定される推定場所に応答して、画像投影の整合を精緻化するよう前記相関プロセスを繰り返す、
請求項1に記載のデバイス。 - 前記コントローラは、同じ標的物体からの投影によって照らされる多数の画像センサの各々の画像センサにおけるピクセルを特定するように構成され、
ピクセルを特定することは、相関プロセスを用いて、多数の画像センサの各々の画像センサにおける前記同じ標的物体の画像投影を整合させることを含み、
前記三次元場所を決定することは、少なくとも3つの特定されるピクセルの相対的な位置に基づき、前記センサの平面と概ね平行な少なくとも1つの物理的次元における前記標的物体の推定場所を決定することを含み、
受け入れ可能な許容差内に整合する前記決定される推定場所に応答して、少なくとも部分的に、前記少なくとも1つの物理的次元における前記標的物体の前記決定される物理的場所に基づき、前記センサの前記平面に対して概ね垂直な少なくとも1つの物理的次元において前記標的物体の推定される物理的場所を決定する、
請求項1に記載のデバイス。 - 物理的世界シーンのビデオ画像を表示する1つ又はそれよりも多くの自動立体視三次元ディスプレイを更に含み、
前記コントローラは、前記画像センサアレイを使用して取り込まれる前記標的物体の前記決定される三次元場所に基づいて、前記1つ又はそれよりも多くの自動立体視三次元ディスプレイに、前記物理的世界シーンの前記表示されるビデオ画像の上に数値距離をオーバーレイさせる、ように構成される、
請求項1に記載のデバイス。
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