JP2021115483A - 可視および近赤外線スペクトルにおけるエクステンデッドリアリティの外科手術ナビゲーションのための姿勢測定連鎖 - Google Patents
可視および近赤外線スペクトルにおけるエクステンデッドリアリティの外科手術ナビゲーションのための姿勢測定連鎖 Download PDFInfo
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Abstract
Description
図13は、本開示のいくつかの実施形態にしたがって構成されたXRヘッドセット920を示している。XRヘッドセットは、XRヘッドセットを着用者の頭に固定するように構成されたヘッドバンド1306、ヘッドバンド1306によって支持される電子的コンポーネントエンクロージャ1304、および電子的コンポーネントエンクロージャ1304を横切って下向きに延びる表示画面1302を含む。表示画面1302は、シースルーLCDディスプレイデバイス、またはディスプレイデバイスによって着用者の眼に向けて投影された画像を反射する半反射レンズとすることができる。ヘッドセットの片側または両側に配置された既知の間隔を空けて、例えばドットなどのDRA基準のセットがペイントされるかまたは取り付けられる。ヘッドセットのDRAは、補助追跡バー上のナビゲーションカメラがヘッドセット920の姿勢を追跡することを可能にし、および/または別のXRヘッドセットがヘッドセット920の姿勢を追跡することを可能にする。
図34は、本開示のいくつかの実施形態にかかる、XRヘッドセット920の光学コンポーネントの配置を示すブロック図を示している。図34を参照すると、ディスプレイデバイス1450は、そこからの光がXR画像1450として表示画面1302に向けて投影されるXRヘッドセットコントローラ1430によって生成されたXR画像を表示するように構成されている。表示画面1302は、XR画像1450の光と実世界シーン1502からの光とを組み合わせて、ユーザの眼1510に向けられる合成拡張ビュー1504となるように構成されている。このように構成された表示画面1302は、シースルー表示画面として動作する。XRヘッドセット920は、任意の複数のナビゲーションカメラ1440を含むことができる。カメラ1440は、可視光キャプチャカメラ、近赤外線キャプチャカメラ、または双方の組み合わせとすることができる。
XRヘッドセットの動作は、2D画像および3Dモデルの双方を表示画面1302に表示することができる。2D画像は、好ましくは、表示画面1302のより不透明なバンド(上側バンド)に表示されることができ、3Dモデルは、より好ましくは、環境領域として別途知られる、表示画面1302のより透明なバンド(下側バンド)に表示されることができる。表示画面1302が終了する下側バンドの下方において、着用者は、手術室の遮るもののないビューを有する。XRコンテンツが表示画面1302に表示されている場合、流動的であり得ることに留意されたい。3Dコンテンツが表示されている場合、コンテンツに対するヘッドセットの位置に応じて、不透明なバンドに移動することができ、2Dコンテンツが表示されている場合、透明なバンドに配置されて実世界に安定することができる。これに加えて、表示画面1302の全体は、ヘッドセットを外科手術計画のための仮想現実に変換するために電子制御下で暗くされることができるか、または医療処置中に完全に透明にされることができる。上記で説明したように、XRヘッドセット920および関連付けられた動作は、ナビゲートされる処置をサポートするだけでなく、ロボットにより支援される処置と組み合わせて実行されることができる。
1)患者の生体構造の2Dの体軸ビュー、矢状ビュー、および/または冠状ビュー、
2)計画された器具と現在追跡されている器具との対比と、外科手術インプラント場所と、のオーバーレイ、
3)術前画像のギャラリー、
4)顕微鏡および他の同様のシステム、またはリモートビデオ会議からのビデオフィード、
5)オプションならびに構成の設定およびボタン、
6)外科手術計画情報を有する患者の生体構造の浮遊3Dモデル、
7)浮遊する患者の生体構造に関連する外科手術器具のリアルタイム追跡、
8)指示およびガイダンスを有する患者の生体構造の拡張オーバーレイ、および
9)外科手術機器の拡張オーバーレイ。
図17は、本開示のいくつかの実施形態にしたがって構成された2対のステレオナビゲーションカメラを有する補助追跡バー46の例示的な構成を示している。補助追跡バー46は、図3A、図3B、および図3Cのカメラ追跡システムコンポーネントの一部である。一実施形態にかかる、ステレオナビゲーションカメラは、間隔を置いて配置された可視光キャプチャカメラのステレオ対と、間隔を空けて配置された近赤外線キャプチャカメラの別のステレオ対とを含む。あるいは、可視光キャプチャカメラの1つのステレオ対のみ、または近赤外線キャプチャカメラの1つのステレオ対のみが補助追跡バー46において使用されることができる。任意の複数の近赤外線および/または可視光カメラを使用することができる。
上で説明したように、ナビゲートされた外科手術は、例えば、既知の方法で配置されたディスクまたは球などの間隔を空けた基準を含む取り付けられたDRAの姿勢を判定することなどによる、外科手術器具のコンピュータビジョン追跡および姿勢(例えば、6自由度座標系における位置および向き)の判定を含むことができる。コンピュータビジョンは、近赤外線および/または可視光をキャプチャするように構成された、間隔を空けて配置されたナビゲーションカメラ、例えばステレオカメラを使用する。このシナリオでは、(1)精度、(2)堅牢性、および(3)外科手術中のユーザの人間工学という最適化をめぐって共同で競合する3つのパラメータがある。
A=第2のヘッドセットHMD2 1210の可視光座標系、
N3=第2のヘッドセットHMD2 1210のNIR座標系、
S=主ヘッドセットHMD1 1200の可視光座標系、
N2=主ヘッドセットHMD1 1200のNIR座標系、
N=補助ナビゲーションバー46のNIR座標系、
V=補助ナビゲーションバー46の可視光座標系、
R=患者参照基準アレイ602のNIR座標系、
T=追跡された器具604のNIR座標系、
E=ロボットアーム20上の追跡されたロボットエンドエフェクタのNIR座標系、および
W=安定した重力ベクトルを有する慣性的にナビゲートされる世界座標系。
本発明の概念の様々な実施形態の上記の説明において、本明細書において使用される用語は、特定の実施形態を説明することのみを目的とし、本発明の概念を限定することを意図しないことを理解されたい。別様に定義されない限り、本明細書において使用される全ての用語(技術用語および科学用語を含む)は、本発明の概念が属する技術の当業者によって一般に理解されるのと同じ意味を有する。一般的に使用される辞書に定義されるような用語は、本明細書および関連する技術分野の文脈におけるそれらの意味に矛盾しない意味を有するものとして解釈されるべきであり、本明細書で明確にそのように定義された理想化された、または過度に形式的な意味では解釈されないことがさらに理解されよう。
Claims (20)
- 外科手術システムであって、
カメラ追跡システムであって、
外科的処置中に第1の追跡カメラおよび第2の追跡カメラから追跡されるオブジェクトに関連する追跡情報を受信し、
第1のオブジェクトの姿勢を示す前記第1の追跡カメラからの第1のオブジェクト追跡情報に基づいて、前記第1のオブジェクト座標系と前記第1の追跡カメラ座標系との間の第1の姿勢変換を判定し、
前記第1のオブジェクトの姿勢を示す前記第2の追跡カメラからの第1のオブジェクト追跡情報に基づいて、前記第1のオブジェクト座標系と前記第2の追跡カメラ座標系との間の第2の姿勢変換を判定し、
第2のオブジェクトの姿勢を示す前記第2の追跡カメラからの第2のオブジェクト追跡情報に基づいて、前記第2のオブジェクト座標系と前記第2の追跡カメラ座標系との間の第3の姿勢変換を判定し、
前記第1、第2、および第3の姿勢変換の組み合わせに基づいて、前記第2のオブジェクト座標系と前記第1の追跡カメラ座標系との間の第4の姿勢変換を判定する、ように構成されたカメラ追跡システムを備える、外科手術システム。 - 前記カメラ追跡システムが、さらに、前記第2のオブジェクトの姿勢を示す前記第1の追跡カメラからのいかなる追跡情報も使用せずに、前記第2のオブジェクト座標系と前記第1の追跡カメラ座標系との間の前記第4の姿勢変換を判定するように構成されている、請求項1に記載の外科手術システム。
- 前記カメラ追跡システムが、さらに、前記第1のオブジェクトの姿勢を示す前記第1の追跡カメラからの前記追跡情報の前記第4の姿勢変換を介した処理に基づいて、前記第1のオブジェクトの姿勢を示す前記第2の追跡カメラからの前記追跡情報の前記第4の姿勢変換を介した処理に基づいて、および、前記第2のオブジェクトの姿勢を示す前記第2の追跡カメラからの前記追跡情報の前記第4の姿勢変換を介した処理に基づいて、前記第1の追跡カメラ座標系における前記第2のオブジェクトの姿勢を判定するように構成されている、請求項1に記載の外科手術システム。
- 前記カメラ追跡システムが、さらに、前記第2のオブジェクトの姿勢を示す前記第1の追跡カメラからの第2のオブジェクト追跡情報に基づいて、さらに、前記第1、第2、第3の姿勢変換の組み合わせの結果に基づいて、前記第2のオブジェクト座標系と前記第1の追跡カメラ座標系との間の前記第4の姿勢変換を判定するように構成されている、請求項1に記載の外科手術システム。
- 前記カメラ追跡システムが、さらに、前記第1の追跡カメラからの前記第1および第2のオブジェクト追跡情報に第1の重みを適用すること、前記第2の追跡カメラからの前記第1および第2のオブジェクト追跡情報に第2の重みを適用すること、ならびに、前記第1の追跡カメラからの前記第1の重み付けされた第1および第2のオブジェクト追跡情報、および前記第2の追跡カメラからの前記第2の重み付けされた第1および第2のオブジェクト追跡情報の前記第4の姿勢変換を介した処理に基づいて、前記第2のオブジェクトの姿勢を判定するように構成されており、前記第1の重みの値が、前記第1の追跡カメラの姿勢判定精度を示し、前記第2の重みの値が、前記第2の追跡カメラの姿勢判定精度を示す、請求項4に記載の外科手術システム。
- 前記カメラ追跡システムが、さらに、前記カメラ追跡システムの動作中の前記第1の追跡カメラの姿勢判定精度の判定された変化に応答して、前記第1の重みの前記値を経時的に適応させ、前記カメラ追跡システムの動作中の前記第2の追跡カメラの姿勢判定精度の判定された変化に応答して、前記第2の重みの前記値を経時的に適応させるように構成されている、請求項5に記載の外科手術システム。
- 前記カメラ追跡システムが、
前記第1の追跡カメラの前記姿勢判定精度が低下したと判定したことに基づいて、前記第1の重みの前記値を低減し、
前記第1の追跡カメラの前記姿勢判定精度が増加したと判定したことに基づいて、前記第1の重みの前記値を増加する、ように構成されている、請求項6に記載の外科手術システム。 - 前記カメラ追跡システムが、さらに、前記カメラ追跡システムの動作中の前記第2の追跡カメラの姿勢判定精度に対する前記第1の追跡カメラの姿勢判定精度の判定された変化に応答して、前記第1および第2の重みのうちの少なくとも1つの前記値を経時的に適応させるように構成されている、請求項5に記載の外科手術システム。
- さらに、前記第1の追跡カメラおよびシースルー表示画面を含むエクステンデッドリアリティ(XR)ヘッドセットを備え、前記XRヘッドセットが、前記外科的処置中にユーザによって着用されるように構成され、前記カメラ追跡システムが、さらに、
前記XRヘッドセットの前記シースルー表示画面に、前記第4の姿勢変換に基づいて判定された姿勢のXR画像を表示するように構成されている、請求項1に記載の外科手術システム。 - 前記カメラ追跡システムが、さらに、
前記第1および第2の追跡カメラからの前記第1のオブジェクト追跡情報および前記第2の追跡カメラからの前記第2のオブジェクト追跡情報の前記第4の姿勢変換を介した処理に基づいて、前記シースルー表示画面上に提示される前記第2のオブジェクトのグラフィック表現として前記XR画像を生成するように構成されている、請求項9に記載の外科手術システム。 - 前記カメラ追跡システムが、前記追跡情報を受信するために前記第1および第2の追跡カメラに通信可能に接続され、前記第1、第2、第3、および第4の姿勢変換の判定を実行するように構成されたナビゲーションコントローラを備える、請求項9に記載の外科手術システム。
- 間隔を空けて配置された基準を含む動的参照アレイが、前記第1のオブジェクト、前記第2のオブジェクト、前記第1の追跡カメラ、および前記第2の追跡カメラのそれぞれに取り付けられており、
前記カメラ追跡システムが、さらに、前記第2のオブジェクトに取り付けられた前記動的参照アレイの第1の部分的に隠された基準が、前記第2の追跡カメラによって見ることができるが、前記第1の追跡カメラによって見ることができないとき、前記第2の追跡カメラに取り付けられた基準に対する前記第1の部分的に隠された基準の判定された姿勢と、前記第1のオブジェクトに取り付けられた基準に対する前記第2の追跡カメラに取り付けられた基準の判定された姿勢との組み合わせに基づいて、前記第1のオブジェクトに取り付けられた基準に対する前記第1の部分的に隠された基準の姿勢を判定するように構成されている、請求項1に記載の外科手術システム。 - 前記カメラ追跡システムが、さらに、前記第2のオブジェクトに取り付けられた前記動的参照アレイの第2の部分的に隠された基準が、前記第2の追跡カメラによって見ることができるが、前記第1の追跡カメラによって見ることができないとき、前記第2の追跡カメラに取り付けられた基準に対する前記第2の部分的に隠された基準の判定された姿勢と、前記第1のオブジェクトに取り付けられた基準に対する前記第2の追跡カメラに取り付けられた基準の判定された姿勢との組み合わせに基づいて、前記第1のオブジェクトに取り付けられた基準に対する前記第2の部分的に隠された基準の姿勢を判定するように構成されている、請求項12に記載の外科手術システム。
- 前記カメラ追跡システムが、さらに、前記第2のオブジェクトに取り付けられた前記動的参照アレイの第3の部分的に隠された基準が、前記第2の追跡カメラによって見ることができないが、前記第1の追跡カメラによって見ることができるとき、前記第1の追跡カメラに取り付けられた基準に対する前記第3の部分的に隠された基準の判定された姿勢と、前記第1のオブジェクトに取り付けられた基準に対する前記第1の追跡カメラに取り付けられた基準の判定された姿勢との組み合わせに基づいて、前記第1のオブジェクトに取り付けられた基準に対する前記第3の部分的に隠された基準の姿勢を判定するように構成されている、請求項12に記載の外科手術システム。
- 前記カメラ追跡システムが、さらに、前記第1のオブジェクトに対する前記第2のオブジェクトの姿勢を判定するための姿勢回復動作を介して、前記第1のオブジェクトに取り付けられた基準に対する前記第1の部分的に隠された基準の前記判定された姿勢を処理し、前記第1のオブジェクトに取り付けられた基準に対する前記第3の部分的に隠された基準の前記判定された姿勢を処理するように構成されている、請求項14に記載の外科手術システム。
- 前記カメラ追跡システムが、さらに、前記第2のオブジェクトに取り付けられた前記動的参照アレイの第4の部分的に隠された基準が、前記第2の追跡カメラによって見ることができないが、前記第1の追跡カメラによって見ることができるとき、前記第1の追跡カメラに取り付けられた基準に対する前記第4の部分的に隠された基準の判定された姿勢と、前記第1のオブジェクトに取り付けられた基準に対する前記第1の追跡カメラに取り付けられた基準の判定された姿勢との組み合わせに基づいて、前記第1のオブジェクトに取り付けられた基準に対する前記第4の部分的に隠された基準の姿勢を判定するように構成されている、請求項14に記載の外科手術システム。
- カメラ追跡システムによる方法であって、
外科的処置中に第1の追跡カメラおよび第2の追跡カメラから追跡されるオブジェクトに関連する追跡情報を受信することと、
第1のオブジェクトの姿勢を示す前記第1の追跡カメラからの第1のオブジェクト追跡情報に基づいて、前記第1のオブジェクト座標系と前記第1の追跡カメラ座標系との間の第1の姿勢変換を判定することと、
前記第1のオブジェクトの姿勢を示す前記第2の追跡カメラからの第1のオブジェクト追跡情報に基づいて、前記第1のオブジェクト座標系と前記第2の追跡カメラ座標系との間の第2の姿勢変換を判定することと、
第2のオブジェクトの姿勢を示す前記第2の追跡カメラからの第2のオブジェクト追跡情報に基づいて、前記第2のオブジェクト座標系と前記第2の追跡カメラ座標系との間の第3の姿勢変換を判定することと、
前記第1、第2、および第3の姿勢変換の組み合わせに基づいて、前記第2のオブジェクト座標系と前記第1の追跡カメラ座標系との間の第4の姿勢変換を判定することと、を備える、方法。 - さらに、前記第1のオブジェクトの姿勢を示す前記第1の追跡カメラからの前記追跡情報の前記第4の姿勢変換を介した処理に基づいて、前記第1のオブジェクトの姿勢を示す前記第2の追跡カメラからの前記追跡情報の前記第4の姿勢変換を介した処理に基づいて、および、前記第2のオブジェクトの姿勢を示す前記第2の追跡カメラからの前記追跡情報の前記第4の姿勢変換を介した処理に基づいて、前記第1の追跡カメラ座標系における前記第2のオブジェクトの姿勢を判定することを備える、請求項17に記載の方法。
- コンピュータプログラム製品であって、
カメラ追跡システムの少なくとも1つのプロセッサによって実行可能なプログラムコードであって、
外科的処置中に第1の追跡カメラおよび第2の追跡カメラから追跡されるオブジェクトに関連する追跡情報を受信し、
第1のオブジェクトの姿勢を示す前記第1の追跡カメラからの第1のオブジェクト追跡情報に基づいて、前記第1のオブジェクト座標系と前記第1の追跡カメラ座標系との間の第1の姿勢変換を判定し、
前記第1のオブジェクトの姿勢を示す前記第2の追跡カメラからの第1のオブジェクト追跡情報に基づいて、前記第1のオブジェクト座標系と前記第2の追跡カメラ座標系との間の第2の姿勢変換を判定し、
第2のオブジェクトの姿勢を示す前記第2の追跡カメラからの第2のオブジェクト追跡情報に基づいて、前記第2のオブジェクト座標系と前記第2の追跡カメラ座標系との間の第3の姿勢変換を判定し、
前記第1、第2、および第3の姿勢変換の組み合わせに基づいて、前記第2のオブジェクト座標系と前記第1の追跡カメラ座標系との間の第4の姿勢変換を判定するためのプログラムコードを記憶する非一時的コンピュータ可読媒体を備える、コンピュータプログラム製品。 - 前記プログラムコードが、さらに、前記第1のオブジェクトの姿勢を示す前記第1の追跡カメラからの前記追跡情報の前記第4の姿勢変換を介した処理に基づいて、前記第1のオブジェクトの姿勢を示す前記第2の追跡カメラからの前記追跡情報の前記第4の姿勢変換を介した処理に基づいて、および、前記第2のオブジェクトの姿勢を示す前記第2の追跡カメラからの前記追跡情報の前記第4の姿勢変換を介した処理に基づいて、前記第1の追跡カメラ座標系における前記第2のオブジェクトの姿勢を判定するように、前記カメラ追跡システムの前記少なくとも1つのプロセッサによって実行可能である、請求項19に記載のコンピュータプログラム製品。
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