JP2020199304A - ロボット医療処置のガイダンスを提供するためのシステムおよび方法 - Google Patents
ロボット医療処置のガイダンスを提供するためのシステムおよび方法 Download PDFInfo
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Abstract
Description
援用されている、本明細書の一部を構成する添付の図面は、本発明の例示の態様を、説明と共に示しており、本発明の原理を説明するように作用する。
図1は、前記ロボット医療処置のためのガイダンスを生成するためのシステム2を示しており、図2は、ガイダンスを生成するための方法を示している。システム2は処置最適化装置10を備えている。処置最適化装置10は、複数のロボットシステム5から入力処置データ4を受信し得る(図2、ステップ210)。一実施形態において、入力処置データ4の各セットは、ロボットシステム5を使用する使用者によって実施された完了したロボット医療処置または進行中のロボット医療処置に対応する。本明細書では、「使用者」は、「施術者」と同意語であり、記載された行為を完了するいずれかの人物(例えば、外科医、技術者、看護師など)であってもよい。数ある構成要素の中で、ロボットシステム5の各々は、ロボット装置と、ガイダンスモジュールと、患者および他の対象物を追跡するためのカメラスタンドとを備えていてもよい。ガイダンスモジュールおよびカメラスタンド(本明細書ではガイダンス構成要素24と呼称される)は、出力を使用者に提供するための画面を含んでいてもよい。ロボット装置、ガイダンスモジュール、またはカメラスタンドのうちの1つ以上は、処置最適化装置10によって回収され得る入力処置データ4を記憶していてもよい。代替的に、入力処置データ4は、ロボットシステム5のいずれか他の構成要素に記憶されていてもよく、あるいは、ロボットシステム5の外部に記憶されていてもよい。記憶された入力処置データ4は、対応する医療処置の特性のパターンを判定するために、処置最適化装置10によって分析されてもよい(図2、ステップ220)。
処置最適化装置10は、本明細書に記載されている様々な機能(例えば、計算、処理、分析)を実行するために利用され得る。処置最適化装置10は、処理装置14とメモリ16とを有する処理回路12を備えていてもよい。処理装置14は、汎用プロセッサ、特定用途向け集積回路(ASIC)、1つ以上のフィールドプログラマブルゲートアレイ(FPGA)、処理構成要素のグループ、または他の適切な電子処理構成要素として具体化可能である。メモリ16(例えば、メモリ、メモリユニット、記憶装置など)は、本明細書において記載されている様々な処理を完了または容易にするためのデータおよびコンピュータコードの少なくともいずれか一方を記憶するための1つ以上の装置(例えば、RAM、ROM、フラッシュメモリ、ハードディスク記憶装置など)であってもよい。メモリ16は、揮発性メモリもしくは不揮発性メモリであってもよく、或いは、揮発性メモリもしくは不揮発性メモリを含んでいてもよい。メモリ16は、データベース構成要素、オブジェクトコード構成要素、スクリプト構成要素、または、本明細書に記載された様々な行為を支持するためのいずれか他の種類の情報構造を含んでいてもよい。例示の実施形態によれば、メモリ16は、処理装置14に通信可能に接続されていてもよく、さらに、本明細書に記載した1つ以上の処理を実行するためのコンピュータコードを含んでいてもよい。メモリ16は、特定種類の機能に関連するデータおよびコンピュータコードの少なくともいずれか1つを各々記憶できる様々なモジュールを包含していてもよい。一実施形態において、メモリ16は、入力モジュール18、分析モジュール20、および出力モジュール22など、医療処置に関連するいくつかのモジュールを包含する。
入力処置データ4は、ロボットシステム5を用いて実施されるロボット医療処置に対応するデータである。データ4は、対応する入力処置のいずれかの特性に関連し得る。図5を参照して、入力処置データ4は、例えば、患者の情報(例えば、バイオメトリクス、患者の画像、併存疾患、アレルギーなど)、手術室の特性(例えば、規模、設定)、手術前の情報(例えば、手術計画、処置の種類)、手術中の情報(例えば、処置の動作、処置の特定のステップの所要時間)、手術後の情報(例えば、いずれかのインプラントの最終的な配置)、および、ロボットのように処置の過程で使用されるいずれかの装置に関連する情報の少なくともいずれか1つを含んでいてもよい。データ4は、処置の前にロボットシステム5に(例えば、使用者による手作業によって、もしくは、いずれかの形態のデータ転送によって)入力されてもよく、あるいは、処置の過程でロボットシステム5によって収集され、測定され、記録され、または取得されてもよい。ロボットデータとは、ロボット装置を用いて実施される医療処置との関連で、ロボット装置に入力され、ロボット装置によって記録され、または、ロボット装置によって収集取得されるいずれかのデータ4のことをいう。処置に対応する入力処置データ4は、処置に対応する他のデータに加えてログファイルを含む場合があるが、処置の過程で取得されたデータは、ログファイルの形態であってもよい。一実施形態において、入力処置データ4のセットは、ロボットシステム5を用いて実施された1回の医療処置に対応する。
図2のステップ220を参照して、前記ロボット医療システム5(または、他の配置)から受信される入力処置データ4は、処置最適化装置10によって(例えば、分析モジュール20に記憶されている命令を実行することによって)分析され得る。一実施形態において、データ4は、複数の入力処置にわたる特性のパターンを判定するために分析されてもよい。分析された特性は、施術者の技術、処置の一部の長さ、骨への押圧力、処置の過程での対象物もしくは人の配置、または、前記ロボット医療処置に対応する分析データによって認識され得るいずれか他の特性に関連し得る。
図1および図2のステップ230を参照して、処置最適化装置10は、生成されたガイダンスに指し示されることになる処置についての支援処置情報6を受信し得る。支援処置情報6は、支援処置の患者についての情報を含む、支援処置についてのいずれかの情報であってもよい。図3は、患者情報30、処置の種類の情報32、手術室の特性34、および使用者の過去の経験の情報36を含む支援処置情報6のいくつかの例を示している。支援処置情報6は、画像(例えば、患者または手術室の画像)、データファイル、使用者による手入力、または、患者監視装置からの受信など、いずれかの形態で提供されるものであってもよく、さらに、通信インターフェース28を介して処置最適化装置10へと送信されるものであってもよい。
図1と図2のステップ240とを参照して、処置最適化装置10は、出力モジュール22に記憶されたアルゴリズムを実行することによって出力26を生成する。一実施形態において、前記出力は、施術者が支援処置の過程で実行するガイダンスであってもよい。ガイダンスを生成するステップは、実行時にロボットにガイダンスを使用者へ提供させる、更新されたロボット命令を生成することを含んでいてもよい。前記ガイダンスは、1つ以上のガイダンス構成要素24のスクリーンに表示されてもよい。前記ガイダンスは、処置最適化装置10によって認識された入力処置の特性のパターンと、処置最適化装置10によって受信された支援処置情報6とに基づいていてもよい。
図5は、入力処置データ4におけるパターンに基づいてガイダンスを提供するための例示のワークフローを示している。図5のステップ510は、処置最適化装置10によって受信され得る入力処置データ4を含んでいる。前述したように、入力処置データ4は、いずれかの手法で受信される患者の情報、手術室(OR)についての情報(例えば、ORの規模、ORの設定)、手術前の情報(例えば、前述した運動試験の範囲など、手術前に実行するための処置)、手術中の情報(例えば、追跡の情報、骨の位置合わせ(bone registration)のために接触する骨の配置)、手術後の情報(例えば、所望の最終的なインプラントの配置、リハビリテーションからの情報)、ならびに、手術ロボット(例えば、関節角度、公差、ロボットが処置の最中にロボットの動きを正確に実施したかどうか)、および、処置の最中に使用される他の装置や機器に関する情報など、前記ロボット医療処置についてのいずれかの情報の少なくともいずれか1つを含んでいてもよい。
Claims (1)
- ロボット医療処置を実施するためのガイダンスを生成し表示するためのコンピュータで実行される方法であって、
複数の先行処置データセットであって、それぞれが、i)母集団内の患者にロボット器具を使用することにより実施されたロボット医療処置に対応しており、実施されるべきロボット医療処置についての情報が、患者、処置の種類、手術室の特性、または使用者の過去の経験のうちの少なくとも1つについての情報を含んでおり、かつ、ii)前記ロボット器具の動作、手術室における前記ロボット器具の初期の位置、および、前記ロボット器具による加圧力を定める前記複数の先行処置データセットを、1つ以上の外科ロボットシステムから1つ以上の処理装置によって受信するステップと、
前記1つ以上の処理装置によって、前記ロボット医療処置の期間もしくは患者の転帰のうちの1つ以上を定める客体データを受信または特定するステップと、
前記複数の先行処置データセットにわたるパターンであって、
i)前記ロボット医療処置に関与した前記ロボット器具の1つ以上の動作、
ii)手術室における前記ロボット器具の初期の位置、または、
iii)前記客体データによって定められた前記期間もしくは患者の転帰を達成する前記ロボット器具による加圧力
のうちの1つ以上を記述している前記パターンを特定するために、前記1つ以上の処理装置によって非一過性コンピュータ読取可能記憶媒体に記憶されたアルゴリズムを実行するステップと、
前記1つ以上の処理装置によって、前記母集団以外の患者について将来的に実施されるべき前記ロボット医療処置についての前記情報を受信するステップと、
前記1つ以上の処理装置によって、前記ロボット医療処置を実施するためのガイダンスであって、前記複数の先行処置データセットにわたって特定される前記パターンおよび実施されるべき前記ロボット医療処置について受信される情報を評価することに基づいて、前記ロボット医療処置の間、前記ロボット器具の推奨される動作と、手術室における前記ロボット器具の推奨される初期の位置とを備えている前記ガイダンスを自動的に生成するステップと、
前記ロボット医療処置を実行するために、前記ロボット器具に関連する、前記ガイダンスの電子画面を前記1つ以上の処理装置によって生成し表示するステップと
を備えている方法。
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CN107750147B (zh) | 2021-01-12 |
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US11234774B2 (en) | 2022-02-01 |
KR20220042233A (ko) | 2022-04-04 |
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