JP2021153773A - ロボット手術支援装置、手術支援ロボット、ロボット手術支援方法、及びプログラム - Google Patents
ロボット手術支援装置、手術支援ロボット、ロボット手術支援方法、及びプログラム Download PDFInfo
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Abstract
Description
図1は、第1の実施形態におけるロボット手術支援システム1の構成例を示すブロック図である。ロボット手術支援システム1は、ロボット手術支援装置100と、CT装置200と、手術支援ロボット300と、を備える。ロボット手術支援装置100と、CT装置200と、手術支援ロボット300とは、ネットワークを介して接続されてもよい。また、ロボット手術支援装置100は、CT装置200、及び手術支援ロボット300の各装置と、1対1で接続されてもよい。図1では、ロボット手術支援装置100が、CT装置200及び手術支援ロボット300のそれぞれと接続されていることを例示している。
なお、テーブル420と脚保持部450との位置関係は、手術ベッド400が備える各種センサの検出値に基づいて算出されてよい。各種センサは、テーブル420に対する脚保持部450の距離やテーブル420に対する脚保持部450の角度を検出するセンサを含んでよい。骨盤14の状態は、被検体のモデルにおける骨盤14の位置や向きや動きを含んでよい。位置処理部164は、骨盤14の状態に基づいて、被検体のモデルを変形してよい。
(参考非特許文献1:Allison M. Okamura, “Haptic Feedback in Robot-Assisted Minimally Invasive Surgery”, [令和2年3月3日検索]インターネット<URL: https://www.ncbi.nlm.nih.gov/pmc/articles/PMC2701448/>)
上記実施形態の一態様は、手術支援ロボット300によるロボット手術を支援するロボット手術支援装置100であって、処理部160を備える。処理部160は、被検体PSの3Dデータ(例えばモデル、ボリュームデータ)を取得し、手術支援ロボット300が備える手術器具30が被検体PSの軟組織に接触した接触位置を取得し、被検体PSの軟組織の接触位置の固さ(例えば反力)を取得し、接触位置及び固さに基づいて、3Dデータにおける軟組織の変形を伴って、3Dデータの位置と手術支援ロボット300が認識する被検体PSの位置との位置合わせを行う機能を有する。
14 骨盤
15 骨
16 腸壁
17 腱
17B 変形前の腱
18 主要動脈
18B 変形前の主要動脈
30 手術器具
35 処理部
40 プラットフォーム
60 接触センサ
100 ロボット手術支援装置
110 送受部
120 UI
130 ディスプレイ
140 プロセッサ
150 メモリ
160 処理部
161 領域処理部
162 変形処理部
163 モデル設定部
165 組織推定部
166 画像生成部
167 表示制御部
200 CT装置
300 手術支援ロボット
310 ロボット操作端末
320 ロボット本体
330 画像表示端末
400 手術ベッド
420 テーブル
450 脚保持部
EF エンドエフェクタ
ES 内視鏡
PS 被検体
TG ターゲット
Claims (11)
- 手術支援ロボットによるロボット手術を支援するロボット手術支援装置であって、
処理部を備え、
前記処理部は、
被検体の3Dデータを取得し、
前記手術支援ロボットが備える手術器具が前記被検体の軟組織に接触した接触位置を取得し、
前記被検体の軟組織の前記接触位置の固さを取得し、
前記接触位置及び前記固さに基づいて、前記3Dデータにおける軟組織の変形を伴って、前記3Dデータの位置と前記手術支援ロボット300が認識する前記被検体の位置との位置合わせを行う機能を有する、
ロボット手術支援装置。 - 前記処理部は、
前記被検体の内部を撮像する内視鏡により撮像された、軟組織を含む少なくとも1つの撮像画像を取得し、
前記撮像画像を解析して、取得された前記3Dデータにおける軟組織を基に予測される軟組織の予測画像と、前記軟組織の撮像画像との差分を算出し、
前記差分に基づいて、前記3Dデータにおける前記軟組織を変形し、
前記3Dデータにおける前記軟組織の変形に基づいて、前記位置合わせを行う、
請求項1に記載のロボット手術支援装置。 - 前記処理部は、前記接触位置及び前記固さに基づいて、前記手術器具が接触した前記軟組織の背後に骨が存在するかを推定する、
請求項1又は2に記載のロボット手術支援装置。 - 前記処理部は、前記接触位置と前記固さに基づいて、前記手術器具が弾性を有する組織に接触したかを推定する、
請求項1又は2に記載のロボット手術支援装置。 - 前記処理部は、前記接触位置と前記固さに基づいて、前記手術器具を視点として前記手術器具が接触した前記軟組織の背後に弾性を有する組織が存在するか否かを判定する、
請求項1又は2に記載のロボット手術支援装置。 - 前記弾性を有する組織は、血管である、
請求項4又は5に記載のロボット手術支援装置。 - 前記処理部は、
前記接触位置と前記固さに基づいて、前記手術器具を視点として前記手術器具が接触した前記軟組織の背後に危険部位が存在するか否かを判定し、
前記危険部位が存在すると判定された場合、前記危険部位が存在することを示す警告情報を提示させる、
請求項1〜6のいずれか1項に記載のロボット手術支援装置。 - 前記ロボット手術は、鏡視下手術である、
請求項1〜7のいずれか1項に記載のロボット手術支援装置。 - 手術を支援する手術支援ロボットであって、
ロボットアームと、
前記ロボットアームに取り付けられる手術器具と、
処理部と、を備え、
前記処理部は、
前記手術器具が被検体の軟組織に接触した接触位置を取得し、
前記被検体の軟組織の前記接触位置の固さを取得し、
前記手術支援ロボットによるロボット手術を支援するためのロボット手術支援装置に、前記接触位置及び前記固さの情報を送信する、
手術支援ロボット。 - 手術支援ロボットによる鏡視下手術を支援するロボット手術支援方法であって、
被検体の3Dデータを取得し、
前記手術支援ロボットが備える手術器具が前記被検体の軟組織に接触した接触位置を取得し、
前記被検体の軟組織の前記接触位置の固さを取得し、
前記接触位置及び前記固さに基づいて、前記3Dデータにおける軟組織の変形を伴って、前記3Dデータの位置と前記手術支援ロボット300が認識する前記被検体の位置との位置合わせを行う、
ロボット手術支援方法。 - 請求項10に記載のロボット手術支援方法をコンピュータに実行させるためのプログラム。
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US17/211,966 US20210298848A1 (en) | 2020-03-26 | 2021-03-25 | Robotically-assisted surgical device, surgical robot, robotically-assisted surgical method, and system |
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WO2024072689A1 (en) * | 2022-09-26 | 2024-04-04 | Intuitive Surgical Operations, Inc. | Systems and methods for determining a force applied to an anatomical object within a subject based on a deformable three-dimensional model |
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