JP2020518326A - 画像誘導処置を監視するためのグラフィカル・ユーザインターフェイス - Google Patents
画像誘導処置を監視する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
本開示は、2017年4月18日に出願された、“Graphical User Interface for Monitoring an Image-guided Procedure”という名称の米国仮特許出願62/486,879に対する優先権を主張するものであり、この文献は、その全体が参照により本明細書に組み込まれる。
Anatomic Structure for Image-Guided Surgery”を開示する)がそのような1つのシステムを開示しており、この文献は、その全体が参照により本明細書に組み込まれる。遠隔操作医療システム100は、照明システム、操縦制御システム、洗浄システム、及び/又は吸引システム等のオプションの操作及びサポートシステム(図示せず)をさらに含み得る。いくつかの実施形態では、遠隔操作医療システム100は、2つ以上の遠隔操作マニピュレータアセンブリ及び/又は2つ以上のマスターアセンブリを含み得る。遠隔操作マニピュレータアセンブリの正確な数は、他の要因の中でも、医療処置及び手術室内の空間的制約に左右されるであろう。マスターアセンブリ106は、並置してもよく、又はそれらアセンブリは別々の位置に位置付けしてもよい。複数のマスターアセンブリによって、2人以上のオペレータが1つ又は複数の遠隔操作マニピュレータアセンブリを様々な組合せで制御するのを可能にする。
thereto”を開示する);(2004年7月16日に出願された)米国特許出願第12/047,056号(“Fiber-optic
shape and relative position sensing”を開示する);(1998年6月17日に出願された)米国特許第6,389,187号(“Optical Fibre Bend Sensor”を開示する)に記載されており、これら全ての文献は、その全体が参照により本明細書に組み込まれる。いくつかの実施形態におけるセンサは、レイリー散乱、ラマン散乱、ブリルアン散乱、及び蛍光散乱等の他の適切な歪み感知技術を使用することができる。いくつかの実施形態では、可撓性本体216の形状は他の技術を使用して決定してもよい。例えば、可撓性本体216の先端部の姿勢の履歴を使用して、その期間に亘った可撓性本体216の形状を再構成することができる。いくつかの実施形態では、追跡システム230は、オプションで及び/又は追加的に、位置センサシステム220を使用して先端部218を追跡し得る。位置センサシステム220は、外部で発生する電磁場に曝され得る1つ又は複数の導電コイルを含む、位置センサシステム220を有するEMセンサシステムの構成要素であり得る。次に、EMセンサシステム220の各コイルは、外部で発生した電磁場に対するコイルの位置及び向きに依存する特性を有する誘導電気信号を生成する。いくつかの実施形態では、位置センサシステム220は、6つの自由度、例えば3つの位置座標X、Y、Z、及び基点のピッチ、ヨー、及びロールを示す3つの方位角(orientation angles)、又は5つの自由度、例えば3つの位置座標X、Y、Z、及び基点のピッチ及びヨーを示す2つの方位角を測定するように構成及び位置付けされ得る。位置センサシステムの更なる説明は、(1999年8月11日に出願された)米国特許第6,380,732号(“Six-Degree of Freedom Tracking System Having a Passive Transponder
on the Object Being Tracked”を開示する)に提供されており、この文献は、その全体が参照により本明細書に組み込まれる。
Surgery with Enhanced Dexterity and Sensitivity”を開示する)及び(2008年9月30日に出願された)米国特許出願第12/286,644号(“Passive Preload and Capstan Drive for Surgical Instrument”を開示する)に詳細に記載されており、これらの文献は、その全体が参照により本明細書に組み込まれる。
Anatomic Structure for Image-Guided Surgery”を開示する)に提供されており、この文献は、その全体が参照により本明細書に組み込まれる。
and Image-Guided Procedure”という名称の米国仮特許出願62/357,217号、及び2017年6月30日に出願された、“Graphical User Interface for Displaying Guidance Information in a
Plurality of Modes During and Image-Guided Procedure”という名称の米国仮特許出願62/357,258号に記載される特徴と同様であり、これらの文献は、その全体が参照により本明細書に組み込まれる。
Claims (20)
- 医療装置であって、当該医療装置は、
可撓性本体を含む細長い装置と、
該可撓性本体の少なくとも一部に沿って配置された追跡システムと、
該追跡システムに通信可能に結合された1つ又は複数のプロセッサと、を含み、
該1つ又は複数のプロセッサは、
解剖学的構造内の標的位置へのルートを受信し、
第1の解剖学的表現に基づいて、前記ルートの1つ又は複数の特徴を決定し、
前記ルートの前記1つ又は複数の特徴に基づいて、縮小した解剖学的表現を生成し、
前記追跡システムからリアルタイムの位置情報を受信し、
前記リアルタイムの位置情報を前記縮小した解剖学的表現に関連付け、
前記縮小した解剖学的表現を、前記関連付けられたリアルタイムの位置情報とともに動的に表示する、ように構成される、
医療装置。 - 前記解剖学的構造は肺に対応し、前記第1の解剖学的表現は、前記肺の気道に対応する、前記解剖学的構造内の複数の通路を含む、請求項1に記載の医療装置。
- 前記ルートの前記1つ又は複数の特徴には、前記ルートに沿った分岐部の位置が含まれる、請求項1に記載の医療装置。
- 前記縮小した解剖学的表現における前記分岐部の位置には、前記分岐部の完全な分岐構造を有さない、切り取られた(clipped)分岐部が含まれる、請求項3に記載の医療装置。
- 前記標的位置への代替ルートを表す代替ルートインジケータが表示される、請求項3に記載の医療装置。
- 前記ルートの前記1つ又は複数の特徴には、前記ルートに関連する危険部が含まれる、請求項1に記載の医療装置。
- 前記リアルタイムの位置情報を動的に表示することは、異常が検出されたときに、1つ又は複数のインジケータを表示することを含む、請求項1に記載の医療装置。
- 前記1つ又は複数のインジケータは、方向転換誤りインジケータ、逆転インジケータ、及び過度の曲げインジケータのうちの1つ又は複数を含む、請求項7に記載の医療装置。
- 解剖学的構造を表示する方法であって、当該方法は、
グラフィカル・ユーザインターフェイスを提供するステップと、
前記解剖学的構造内の複数の通路の3D表現及び前記複数の通路内の標的位置へのルートを含む第1の解剖学的表現を受信するステップと、
前記複数の通路のサブセットに基づいて、縮小した解剖学的表現を生成するステップであって、前記複数の通路の前記サブセットは、前記ルートに直接的に接続されたパス通路を含む、生成するステップと、
前記縮小した解剖学的表現を線形解剖学的表現として表示するステップと、を含む、
方法。 - 前記解剖学的構造は肺に対応し、前記解剖学的構造内の前記複数の通路は前記肺の気道に対応する、請求項9に記載の方法。
- 前記標的位置には、病変部、結節部、及び腫瘍部のうちの1つ又は複数が含まれる、請求項9に記載の方法。
- 前記パス通路から外れた分岐部の位置が前記線形解剖学的表現に含まれる、請求項9に記載の方法。
- 前記標的位置への代替ルートを表す代替ルートインジケータを表示するステップをさらに含む、請求項9に記載の方法。
- 前記ルートの終了部から前記標的位置までの挿入軌跡を表示するステップをさらに含む、請求項9に記載の方法。
- 前記ルートに関連する危険部を識別し、前記挿入軌跡に対して前記危険部の位置を表示するステップをさらに含む、請求項14に記載の方法。
- 前記ルートの通過中に、器具に関連付けられたリアルタイムの位置情報を受信するステップと、
前記リアルタイムの位置情報を前記縮小した解剖学的表現にマッピングするステップと、
前記リアルタイムの位置情報を前記縮小した解剖学的表現とともに動的に表示するステップと、をさらに含む、請求項9に記載の方法。 - 前記リアルタイムの位置情報を動的に表示するステップは、異常が検出されたときに、1つ又は複数のインジケータを表示するステップを含む、請求項16に記載の方法。
- システムであって、当該システムは、
表示システムと、
ユーザ入力装置と、
1つ又は複数のプロセッサと、を含み、
該1つ又は複数のプロセッサは、
解剖学的表現を受信すること、
前記ユーザ入力装置を介して、前記解剖学的表現に関する標的に関連付けられたユーザ入力を受け取ること、
前記標的に関連する不確実性ゾーンを決定すること、
前記表示システムを介して前記解剖学的表現に対して標的を表示すること、を含む動作を実行するように構成され、
前記不確実性ゾーンは、前記標的を少なくとも部分的に取り囲むように表示される、
システム。 - 解剖学的モデルが、解剖学的構造に位置合わせされ、前記不確実性ゾーンは、位置合せの不確実性に基づいて決定される、請求項18に記載のシステム。
- 潜在的な危険部の位置を決定することをさらに含む、請求項18に記載のシステム。
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EP3612121A4 (en) | 2021-04-07 |
CN110621252A (zh) | 2019-12-27 |
CN110621252B (zh) | 2024-03-15 |
US20230346487A1 (en) | 2023-11-02 |
WO2018195216A1 (en) | 2018-10-25 |
EP3612121A1 (en) | 2020-02-26 |
US20200054399A1 (en) | 2020-02-20 |
JP2023126264A (ja) | 2023-09-07 |
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