JP2021521959A - 細長いデバイスに関するシステム及び方法 - Google Patents
細長いデバイスに関するシステム及び方法 Download PDFInfo
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Abstract
Description
本出願は、2018年4月25日に出願された米国仮出願第62/662,440号の利益を主張し、その全文を参照によって本明細書に援用する。
Claims (14)
- 第1のチャネルと、遠位端部分とを含み、該遠位端部分は、カテーテル基準系と関連付けられる、カテーテルと、
プロセッサとを含み、該プロセッサは、
患者解剖学的構造内に前記カテーテルによって提供される第1の撮像デバイスによって取り込まれる第1の画像を受信し、
前記患者解剖学的構造の外側から第2の撮像デバイスによって取り込まれる、前記カテーテルと、前記第1の撮像デバイスとを含む、前記患者解剖学的構造の第2の画像を受信し、
該第2の画像に基づいて前記第1の撮像デバイスと前記カテーテルの前記遠位端との間の相対的な姿勢を決定し、
前記第1の画像中の標的構造と関連付けられる標的場所を決定し、且つ
前記相対的な姿勢に基づいて前記第1の画像と関連付けられる画像基準系内の前記標的場所を前記カテーテル基準系に変換する、
ように構成される、
医療システム。 - 前記第1の撮像デバイスは、超音波プローブを含む、請求項1に記載の医療システム。
- 前記超音波プローブは、側方撮像超音波プローブ、前方向き超音波プローブ、湾曲超音波プローブ、又は半径方向超音波プローブを含む、請求項2に記載の医療システム。
- 前記超音波プローブは、前記カテーテルの前記第1のチャネル内にスライド可能に収容されるように構成される、請求項2に記載の医療システム。
- ツールが、前記カテーテルの第2のチャネル内にスライド可能に収容されるように構成される、請求項4に記載の医療システム。
- 前記ツールは、生検針、切除デバイス、寒冷療法デバイス、医薬送達針、又は内視鏡を含む、請求項5に記載の医療システム。
- 前記プロセッサは、
前記第1の画像中の前記ツールのツール先端のツール先端場所を決定し、
該ツール先端場所を前記画像基準系から前記カテーテル基準系に変換する、
ように構成される、
請求項5に記載の医療システム。 - 前記超音波プローブは、前記カテーテルの前記遠位端の付近に配置される、請求項2又は3乃至7のいずれか1項に記載の医療システム。
- 前記相対的な姿勢を決定するために、前記プロセッサは、
前記第2の画像を用いて前記カテーテルの前記遠位端と前記第1の撮像デバイスとの間の第1の距離を決定する、
ように構成される、
請求項1又は2乃至7のいずれか1項に記載の医療システム。 - 前記カテーテルの前記遠位端と前記第1の撮像デバイスとの間の前記第1の距離は、操作者からの前記第2の画像と関連付けられる入力に基づいて前記第2の画像中で測定される、請求項9に記載の医療システム。
- 前記カテーテルの前記遠位端と前記第1の撮像デバイスとの間の前記第1の距離は、前記第2の画像に対する画像分析を実行することによって自動的に測定される、請求項9に記載の医療システム。
- 前記第1の距離は、前記第2の画像中の解剖学的ランドマーク寸法に基づいて決定される、請求項9に記載の医療システム。
- 前記解剖学的ランドマーク寸法は、前記患者解剖学的構造の2つの連続する鎖骨の間の第2の距離を含む、請求項12に記載の医療システム。
- 前記相対的な姿勢を決定するために、前記プロセッサは、
前記患者解剖学的構造の外側から第3の撮像デバイスによって取り込まれる、前記カテーテルと、前記第1の撮像デバイスとを含む、前記患者解剖学的構造の第3の画像を受信し、且つ
前記第2の画像及び前記第3の画像に基づいて前記第1の撮像デバイスと前記カテーテルの前記遠位端との間の相対的な位置を決定する、
ように構成される、
請求項11に記載の医療システム。
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