JP2021176521A - 外科手術におけるコンピュータ支援ナビゲーションのためのエクステンデッドリアリティヘッドセットカメラシステム - Google Patents
外科手術におけるコンピュータ支援ナビゲーションのためのエクステンデッドリアリティヘッドセットカメラシステム 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によって支持された電子部品筐体1304、および電子部品エンクロージャ1304から横方向にわたって下向きに延在する表示画面1302を含む。表示画面1302は、透明LCDディスプレイデバイスか、またはディスプレイデバイスによって着用者の目に向けて投射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。
図16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16を参照すると、ディスプレイデバイス1550は、そこからの光がディスプレイデバイス1550によってXR画像1600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1600を表示するように構成されている。表示画面1302は、XR画像1600の光と実世界シーン1602からの光とを組み合わせて、ユーザの眼1610に向けられる合成拡張ビュー1604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1540を含むことができる。カメラ1540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。
1)患者の解剖学的構造体の2Dの軸方向ビュー、矢状ビュー、および/または冠状ビュー、
2)予定の追跡対象ツール対その時追跡対象のツールと外科移植片場所との重ね合わせ、
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送り、
5)オプションおよび構成の設定およびボタン
6)外科手術計画情報による患者の解剖学的構造の浮遊3Dモデル、
7)浮遊する患者の解剖学的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解剖学的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。
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ものなどの用語が、本明細書および関連する技術分野の背景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意味、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るであろう。
Claims (20)
- ヘッドマウント型エクステンデッドリアリティ(XR)ディスプレイデバイスであって、
ユーザの頭によって着用されるように構成されたフレームと、
前記フレームに結合された剛性取り付け要素と、
前記剛性取り付け要素に結合された右側可視光カメラと、
前記剛性取り付け要素に結合された左側可視光カメラと、
前記剛性取り付け要素に結合された右側近赤外線(NIR)カメラと、
前記剛性取り付け要素に結合された左側NIRカメラと、
前記右側NIRカメラおよび前記左側NIRカメラの視野内の領域を照明するように構成された少なくとも1つのNIR発光ダイオード(LED)と、を備え、
前記右側可視光カメラおよび前記左側可視光カメラが、前記ユーザがフレームを着用しているときに、前記ユーザの視野内で立体可視光像をキャプチャするように構成されており、
前記右側NIRカメラおよび前記左側NIRカメラが、前記ユーザがフレームを着用しているときに、前記ユーザの視野内の立体NIR像をキャプチャするように構成されている、XRディスプレイデバイス。 - 前記右側可視光カメラが、前記フレームから離れて延びる第1の方向に第1の中心を有する視野を画定し、
前記左側可視光カメラが、前記フレームから離れて延びる第2の方向に第2の中心を有する視野を画定し、
前記第1の方向および前記第2の方向が、前記ユーザがフレームを着用しているときに、前記ユーザの視野内の交点で交差する、請求項1に記載のXRディスプレイデバイス。 - 前記第1の方向および前記第2の方向が、10度よりも大きく且つ15度よりも小さい前記交点での角度を画定する、請求項2に記載のXRディスプレイデバイス。
- 前記角度が実質的に12度である、請求項3に記載のXRディスプレイデバイス。
- 前記フレームが、前記フレームが前記ユーザによって着用されているときに実質的に水平基準面を画定し、
前記第1の方向および前記第2の方向が、前記フレームが前記ユーザによって着用されているときに50度よりも大きく且つ60度未満である下向きの角度で前記水平基準面に対して下向きに角度付けられている、請求項2に記載のXRディスプレイデバイス。 - 前記下向き角度が実質的に55度である、請求項5に記載のXRディスプレイデバイス。
- 前記剛性取り付け要素が、炭素繊維要素を含む、請求項1に記載のXRディスプレイデバイス。
- 前記右側可視光カメラおよび前記左側可視光カメラが、第1の解像度で前記立体可視光像をキャプチャするように構成されており、
前記右側NIRカメラおよび前記左側NIRカメラが、前記第1の解像度よりも低い第2の解像度で前記立体NIR像をキャプチャするように構成されている、請求項1に記載のXRディスプレイデバイス。 - 前記フレームに結合されたルーペカメラをさらに備え、前記ルーペカメラが、前記第1の解像度よりも高い第3の解像度で前記ユーザの視野内のカラー画像をキャプチャするように構成されている、請求項8に記載のXRディスプレイデバイス。
- ヘッドマウントディスプレイデバイス用のエクステンデッドリアリティ(XR)カメラアセンブリであって、
ヘッドウェアラブルフレームに結合されるように構成された剛性取り付け要素と、
前記剛性取り付け要素に結合された右側可視光カメラと、
前記剛性取り付け要素に結合された左側可視光カメラと、
前記剛性取り付け要素に結合された右側近赤外線(NIR)カメラと、
前記剛性取り付け要素に結合された左側NIRカメラと、
前記右側NIRカメラおよび前記左側NIRカメラの視野内の領域を照明するように構成された少なくとも1つのNIR発光ダイオード(LED)と、を備え、
前記右側可視光カメラおよび前記左側可視光カメラが、ユーザが前記フレームを着用しているときに、前記ユーザの視野内の立体可視光像をキャプチャするように構成されており、
前記右側NIRカメラおよび前記左側NIRカメラは、前記ユーザが前記フレームを着用しているときに、前記ユーザの視野内の立体NIR像をキャプチャするように構成されている、XRカメラアセンブリ。 - 前記右側可視光カメラが、前記フレームから離れて延びる第1の方向に第1の中心を有する視野を画定し、
前記左側可視光カメラが、前記フレームから離れて延びる第2の方向に第2の中心を有する視野を画定し、
前記第1の方向および前記第2の方向が、前記ユーザが前記フレームを着用しているときに、前記ユーザの視野内の交点で交差する、請求項10に記載のXRカメラアセンブリ。 - 前記第1の方向および前記第2の方向が、10度よりも大きく且つ15度よりも小さい前記交点での角度を画定する、請求項11に記載のXRカメラアセンブリ。
- 前記角度が実質的に12度である、請求項12に記載のXRカメラアセンブリ。
- 前記フレームが、前記フレームが前記ユーザによって着用されているときに実質的に水平基準面を画定し、
前記第1の方向および前記第2の方向が、前記フレームが前記ユーザによって着用されているときに50度よりも大きく60度未満である下向きの角度で前記水平基準面に対して下向きに角度付けられている、請求項11に記載のXRカメラアセンブリ。 - 前記下向き角度が実質的に55度である、請求項14に記載のXRカメラアセンブリ。
- 前記剛性取り付け要素が、炭素繊維要素を含む、請求項10に記載のXRカメラアセンブリ。
- 前記右側可視光カメラおよび前記左側可視光カメラが、第1の解像度で前記立体可視光像をキャプチャするように構成されており、
前記右側NIRカメラおよび前記左側NIRカメラが、前記第1の解像度よりも低い第2の解像度で前記立体NIR像をキャプチャするように構成されている、請求項10に記載のXRカメラアセンブリ。 - 前記フレームに結合されたルーペカメラをさらに備え、前記ルーペカメラが、前記第1の解像度よりも高い第3の解像度で前記ユーザの視野内のカラー画像をキャプチャするように構成されている、請求項17に記載のXRカメラアセンブリ。
- エクステンデッドリアリティ(XR)画像を生成する方法であって、
一定期間中に剛性取り付け要素に結合された一対の可視光カメラの視野内のシーンの第1の複数の可視光立体像をキャプチャすることと、
前記一定期間中に前記剛性取り付け要素に結合された一対の近赤外線(NIR)カメラの視野内のシーンの第2の複数のNIR立体像をキャプチャすることと、
3次元空間内の前記第1の複数の可視光立体像における第1のオブジェクトの位置を判定することと、
前記3次元空間内の前記第2の複数のNIR立体像における第2のオブジェクトの位置を判定することと、を含む、方法。 - 前記一対の可視光カメラが、10度よりも大きく且つ15度よりも小さい角度で互いに対して配置される、請求項19に記載の方法。
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