JP2021194539A - 外科手術中のコンピュータ支援ナビゲーション用のカメラ追跡バー - Google Patents
外科手術中のコンピュータ支援ナビゲーション用のカメラ追跡バー Download PDFInfo
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- JP2021194539A JP2021194539A JP2021096720A JP2021096720A JP2021194539A JP 2021194539 A JP2021194539 A JP 2021194539A JP 2021096720 A JP2021096720 A JP 2021096720A JP 2021096720 A JP2021096720 A JP 2021096720A JP 2021194539 A JP2021194539 A JP 2021194539A
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30004—Biomedical image processing
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- G—PHYSICS
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- G10L—SPEECH ANALYSIS OR SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
- G10L2015/223—Execution procedure of a spoken command
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- H—ELECTRICITY
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- H04N2213/001—Constructional or mechanical details
Abstract
Description
本明細書に開示されている様々な実施形態は、外科手術中のコンピュータ支援ナビゲーションにおける向上を対象としている。
例示的なXRヘッドセットコンポーネントと、ナビゲートされた外科手術、外科手術ロボット、およびその他の機器への統合
図13は、本開示のいくつかの実施形態に従って構成された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エンクロージャ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、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目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1310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、補助的な追跡バーの追跡カメラがヘッドセット920のポーズ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のポーズを追跡することを可能にする。
XRヘッドセットコンポーネントの光学配置の例
図15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15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1500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1500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、任意の複数の追跡カメラ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ヘッドセットを介した使用者のビューの例
XRヘッドセットの動作は、2D画像および3Dモデルの両方を表示画面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。さらに、表示画面1302全体を電子制御下で暗くして、ヘッドセットを外科手術計画では仮想現実に変換し、または医療処置の最中に完全に透明に変換することができる。上で説明したように、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せることができる。
1)患者の解剖学的構造の2Dの軸方向、矢状、および/または冠状のビュー、
2)予定の追跡対象ツール対、その時の追跡対象のツールと、外科手術インプラント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。
追跡システムコンポーネント用のカメラの例示的な構成
図17は、本開示のいくつかの実施形態に従って構成された2対のステレオ追跡カメラを有する補助的な追跡バー46の例示的な構成を示している。補助的な追跡バー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、ステレオ追跡カメラは、間隔を置いて配置された可視光取り込み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取り込みカメラの別のステレオ対とを含む。あるいは、可視光取り込みカメラの1つのステレオ対のみ、または近赤外線取り込みカメラの1つのステレオ対のみ、補助的な追跡バー46において使用させることができる。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。
ポーズ測定連鎖
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、カメラ追跡システムにとって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追跡カメラ、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)外科手術的処置間の人間工学という、最適化について共同で競合している3つのパラメータがある。
A=第2のヘッドセットHMD2 920の可視光座標系、
N3=第2のヘッドセットHMD2 920のNIR座標系、
S=主ヘッドセットHMD1 920の可視光座標系、
N2=主ヘッドセットHMD1 920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=追跡されたツール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。
ここで、「T」という用語は、示された2つの座標系間の6自由度(6DOF)の均一変換として定義される。したがって、例えば、用語
(例えば、
を判定することができる。カメラ追跡システムは、第1のオブジェクト(例えば、R)の姿勢を示す第2の追跡カメラ(例えば、N2)からの第1のオブジェクト追跡情報に基づいて、第1のオブジェクト(例えば、R)座標系と、第2の追跡カメラ(例えば、N2)座標系との間の第2の姿勢変換
(例えば、
を判定することができる。カメラ追跡システムは、第2のオブジェクト(例えば、E)の姿勢を示す第2の追跡カメラ(例えば、N2)からの第2のオブジェクト追跡情報に基づいて、第2のオブジェクト(例えば、E)座標系と、第2の追跡カメラ(例えば、N2)座標系との間の第3の姿勢変換
(例えば、
を判定することができる。カメラ追跡システムは、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、第2のオブジェクト(例えば、E)座標系と、第1の追跡カメラ(例えば、N3)座標系との間の第4の姿勢変換
(例えば、
を判定することができる。
(例えば、
を判定するようにさらに構成される。
(例えば、
を判定するようにさらに構成されることができる。
外科手術ナビゲーション用の5カメラ追跡バー
今日、異なるステレオ、または3つのカメラ追跡バー(ナビゲーションバーとも呼ばれる)が存在するが、本明細書では、カメラ追跡バーが、外科手術中のコンピュータ支援ナビゲーションのためのオブジェクトの追跡の向上を提供できるように、設計、構成、較正、および使用される5つのカメラを含むことができるカメラ追跡バーについて説明する。
さらなる定義および実施形態:
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)
- 外科手術中のコンピュータ支援ナビゲーション用のカメラ追跡システムのカメラ追跡バーであって、前記カメラ追跡バーが、
第1の解像度、第1の視野を有し、前記カメラ追跡バー上で、第1のベースライン距離だけ離間されているステレオ追跡カメラの第1のセットと、
第2の解像度、第2の視野を有し、前記カメラ追跡バー上で、前記第1のベースライン距離よりも小さい第2のベースライン距離だけ離間されているステレオ追跡カメラの第2のセットであって、
ステレオ追跡カメラの前記第2のセットが、ステレオ追跡カメラの前記第1のセットの間に位置決めされ、ステレオ追跡カメラの前記第2のセットの前記解像度および/または前記視野が、ステレオ追跡カメラの前記第1のセットの前記解像度および/または前記視野とは異なる、ステレオ追跡カメラの第2のセットと、
ステレオ追跡カメラの前記第1のセットおよびステレオ追跡カメラの前記第2のセットから、カメラ追跡サブシステムに、ビデオストリームを提供するように構成された通信インターフェースと、を含む、カメラ追跡バー。 - ステレオ追跡カメラの前記第1のセットの各々が、前記カメラ追跡バーの表面に取り付けられ、第1の角度で互いに向かって内側に角度付けられ、
ステレオ追跡カメラの前記第2のセットの各々が、前記カメラ追跡バーの表面に取り付けられ、前記第1の角度とは異なる第2の角度で互いに向かって内側に角度付けられている、請求項1に記載のカメラ追跡バー。 - 3軸ジャイロスコープおよび3軸加速度計を含む高速慣性測定ユニットをさらに含み、前記慣性測定ユニットが、前記カメラ追跡バーの測定された動きを示す動きデータを出力するように構成され、前記通信インターフェースが、前記動きデータを前記カメラ追跡サブシステムに提供するようにさらに構成されている、請求項1に記載のカメラ追跡バー。
- 前記慣性測定ユニットが、前記動きデータに、前記3軸ジャイロスコープの角速度の測定値、および前記3軸加速度計の線形加速度の測定値を含めるように構成されている、請求項3に記載のカメラ追跡バー。
- 前記ビデオストリームの向きおよび前記動きデータの測定値を、重力参照に対して一致させるように構成されているプロセッサをさらに含む、請求項4に記載のカメラ追跡バー。
- 前記カメラ追跡バーに沿って離間され、コンピュータプラットフォームに少なくとも1つのオーディオストリームを提供するように接続されている複数のマイクロフォンを含むマイクロフォンアレイをさらに含み、前記コンピュータプラットフォームが、
前記少なくとも1つのオーディオストリームを記録する、
前記少なくとも1つのオーディオストリームに内包されている音声コマンドを特定して、前記音声コマンドのうちの特定された音声コマンドに関連付けられている定義された動作を選択的にトリガする、
前記少なくとも1つのオーディオストリームに内包されている周囲ノイズレベルを測定する、および
前記複数のマイクロフォンによって提供される少なくとも2つのオーディオストリームに内包されている音源の場所を三角測量する、のうちの少なくとも1つを実行するように構成されている、請求項1に記載のカメラ追跡バー。 - ステレオ追跡カメラの前記第1のセットの前記第1の解像度および前記第1の視野が、少なくとも10ピクセル×10ピクセル、かつ30ピクセル×30ピクセル以下のピクセルアレイにわたって延在する、外科手術中に姿勢決めされた参照アレイを撮像している前記ビデオストリーム内のフレームを出力するように構成されている、請求項1に記載のカメラ追跡バー。
- ステレオ追跡カメラの前記第2のセットの前記第2の解像度および前記第2の視野が、少なくとも10ピクセル×10ピクセル、かつ30ピクセル×30ピクセル以下のピクセルアレイにわたって延在する前記参照アレイを撮像している前記ビデオストリーム内のフレームを出力するように構成されている、請求項7に記載のカメラ追跡バー。
- 前記第1の解像度が、7メガピクセルであり、前記第1の視野は、50度であり、前記第1のベースライン距離は、0.5メートルであり、
前記第2の解像度が、1.5メガピクセルであり、前記第2の視野は、85度であり、前記第2のベースライン距離は、0.4メートルである、請求項8に記載のカメラ追跡バー。 - ステレオ追跡カメラの前記第1のセットが、幅413ミリメートル×高さ427ミリメートルの第1の近接場三次元ボリュームピラミッド、および幅1619ミリメートル×高さ1463ミリメートルの第1の遠距離場三次元ボリュームピラミッドを有する第1の追跡ボリュームを提供するように構成され、
ステレオ追跡カメラの前記第2のセットが、幅585ミリメートル×高さ1020ミリメートルの第2の近接場三次元ボリュームピラミッド、および幅2227ミリメートル×高さ4589ミリメートルの第2の遠距離場三次元ボリュームピラミッドを有する第2の追跡ボリュームを提供するように構成されている、請求項1に記載のカメラ追跡バー。 - ステレオ追跡カメラの前記第1のセットの各々の周りに位置決めされた近赤外線イルミネータのセットと、ステレオ追跡カメラの前記第1のセットのうちの少なくとも1つによって検出された周囲光レベルが周囲光閾値未満であるときに、前記イルミネータをオンにし、前記近赤外線イルミネータをオンにすることに応答して、可視光カメラの較正ファイルからの値を使用したステレオ追跡カメラの前記第1のセットからのビデオの処理を停止し、近赤外光カメラの較正ファイルからの値を使用したステレオ追跡カメラの前記第1のセットからのビデオの処理を開始するように動作可能に構成された少なくとも1つのプロセッサと、をさらに含む、請求項1に記載のカメラ追跡バー。
- ステレオ追跡カメラの前記第1のセットが、可視光の狭波長帯域および近赤外光の別の狭波長帯域を通過させるように構成されたデュアルパスフィルタを含み、
前記カメラ追跡サブシステムが、可視光の狭波長帯域および近赤外光の他の狭波長帯域をキャプチャする前記ビデオストリーム内の参照アレイの再帰反射基準の姿勢を追跡するように構成されている、請求項11に記載のカメラ追跡バー。 - ステレオ追跡カメラの前記第1のセットの各々の周りに位置決めされた、主に1つの色を放出するイルミネータのセットと、ステレオ追跡カメラの前記第1のセットのうちの少なくとも1つによって検出された周囲光レベルが周囲光閾値未満であるときに、前記イルミネータをオンにし、前記近赤外線イルミネータをオンにすることに応答して、周囲光カメラの較正ファイルからの値を使用したステレオ追跡カメラの前記第1のセットからのビデオの処理を停止し、色付き光カメラの較正ファイルからの値を使用したステレオ追跡カメラの前記第1のセットからのビデオの処理を開始するように動作可能に構成された少なくとも1つのプロセッサと、をさらに含む、請求項1に記載のカメラ追跡バー。
- ステレオ追跡カメラの前記第1のセットが、ステレオ追跡カメラの前記第2のセットとは異なるセンサ露出速度を有するように構成されている、請求項1に記載のカメラ追跡バー。
- ステレオ追跡カメラの前記第1のセットおよびステレオ追跡カメラの前記第2のセットによって出力されるビデオフレームは、浮動小数点ゲートアレイによって出力される共通の同期化信号によって同期されている、請求項1に記載のカメラ追跡バー。
- 外科手術中のコンピュータ支援ナビゲーション用のカメラ追跡システムであって、前記カメラ追跡システムが、
カメラ追跡バーであって、
第1の解像度、第1の視野を有し、前記カメラ追跡バー上で、第1のベースライン距離だけ離間されているステレオ追跡カメラの第1のセット、および
第2の解像度、第2の視野を有し、前記カメラ追跡バー上で、前記第1のベースライン距離よりも小さい第2のベースライン距離だけ離間されているステレオ追跡カメラの第2のセットであって、
ステレオ追跡カメラの前記第2のセットが、ステレオ追跡カメラの前記第1のセットの間に位置決めされ、ステレオ追跡カメラの前記第2のセットの前記解像度および/または前記視野が、ステレオ追跡カメラの前記第1のセットの前記解像度および/または前記視野とは異なる、ステレオ追跡カメラの第2のセット、を含む、カメラ追跡バーと、
ステレオ追跡カメラの前記第1のセットおよびステレオ追跡カメラの前記第2のセットからのビデオストリーム内の参照アレイの基準の姿勢を判定するように構成されたカメラ追跡サブシステムと、を含む、カメラ追跡システム。 - ステレオ追跡カメラの前記第1のセットの前記第1の解像度および前記第1の視野が、少なくとも10ピクセル×10ピクセル、かつ30ピクセル×30ピクセル以下のピクセルアレイにわたって延在する、外科手術中に姿勢決めされた参照アレイを撮像している前記ビデオストリーム内のフレームを出力するように構成され、
ステレオ追跡カメラの前記第2のセットの前記第2の解像度および前記第2の視野が、少なくとも10ピクセル×10ピクセル、かつ30ピクセル×30ピクセル以下のピクセルアレイにわたって延在する前記参照アレイを撮像している前記ビデオストリーム内のフレームを出力するように構成されている、請求項16に記載のカメラ追跡システム。 - 前記カメラ追跡バーが、ステレオ追跡カメラの前記第1のセットの各々の周りに位置決めされた近赤外線イルミネータのセット、および、ステレオ追跡カメラの前記第1のセットのうちの少なくとも1つによって検出された周囲光レベルが周囲光閾値未満であるときに、前記イルミネータをオンにし(2900)、前記近赤外線イルミネータをオンにすることに応答して、可視光カメラの較正ファイルからの値を使用したステレオ追跡カメラの前記第1のセットからのビデオの処理を停止し、近赤外光カメラの較正ファイルからの値を使用したステレオ追跡カメラの前記第1のセットからのビデオの処理を開始するように動作可能に構成された少なくとも1つのプロセッサ、をさらに含む、請求項16に記載のカメラ追跡システム。
- ステレオ追跡カメラの前記第1のセットが、可視光の狭波長帯域および近赤外光の別の狭波長帯域を通過させるように構成されたデュアルパスフィルタを含み、
前記カメラ追跡サブシステムが、可視光の狭波長帯域および近赤外光の他の狭波長帯域をキャプチャする前記ビデオストリーム内の参照アレイの再帰反射基準の姿勢を追跡するように構成されている、請求項18に記載のカメラ追跡システム。 - 前記カメラ追跡バーが、ステレオ追跡カメラの前記第1のセットの各々の周りに位置決めされた、主に1つの色を放出するイルミネータのセット、および、ステレオ追跡カメラの前記第1のセットのうちの少なくとも1つによって検出された周囲光レベルが周囲光閾値未満であるときに、前記イルミネータをオンにし、前記近赤外線イルミネータをオンにすることに応答して、周囲光カメラの較正ファイルからの値を使用したステレオ追跡カメラの前記第1のセットからのビデオの処理を停止し、色付き光カメラの較正ファイルからの値を使用したステレオ追跡カメラの前記第1のセットからのビデオの処理を開始するように動作可能に構成された少なくとも1つのプロセッサ、をさらに含む、請求項16に記載のカメラ追跡システム。
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