JP2022540642A - 拡張現実支援関節形成術 - Google Patents
拡張現実支援関節形成術 Download PDFInfo
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Abstract
Description
本出願は、2019年7月9日に出願された米国仮特許出願第62/871,832号の優先権を主張する。また、本出願は、2019年7月9日に出願された米国仮特許出願第62/872,117号の優先権を主張する。各出願の内容は、その全体が参照により本明細書に援用される。
[技術分野]
本出願は、コンピュータ支援手術に関する。
足関節、膝関節、肩関節および/または肘関節形成術を含む、従来の関節再建および置換手術は、大部分が、許容可能な実施についての標準的な方法およびガイドラインに基づいている。この点に関して、関節内へのインプラントの位置決めは、屈曲/伸展、可動域および/または内反/外反等の生体力学的軸に対する向きの標準値に基づく。
ある実施形態では、拡張現実支援手術を提供する方法が提供される。当該方法は、1つ以上の解剖学的部分に対応する1つ以上の解剖学的要素を含む1つ以上の仮想要素を含む仮想シーンを生成する工程を含む。当該方法は、前記1つ以上の解剖学的部分を含む実際の物理シーンにおける1つ以上の基準を特定する工程をさらに含む。当該方法は、拡張シーンを生成するために、前記仮想シーンを前記1つ以上の基準にレジストレーションする工程をさらに含む。当該方法は、前記拡張シーンを表示デバイス上に表示する工程をさらに含む。
図1は、本明細書に開示の1つ以上の実施形態による拡張現実システムを実装するのに適したコンピューティング環境としての拡張現実(AR)システムの一実施例のブロック図である。
コンピュータ支援手術、例えば手術ナビゲーションまたはロボティクスに関して、患者の術前イメージング検査または術中に捕捉(記録)された(captured)医用画像が使用され得る。画像は、手術室(operating room:OR)において外部コンピュータモニタ上に表示され得、患者の解剖学的構造、例えば標識(landmark)は、モニタ上に表示される情報と関連付けてレジストレーションされ得る。手術ウィンドウ(surgical window)は、外部コンピュータモニタとは異なる位置にあって、外科医の眼に対して異なるビュー座標系(view coordinate system)を有する。そのため、手と目との協調は外科医にとって困難であり得る。
仮想骨モデルが、視覚的基準および質測定基準(quality metric)として、実際の解剖学的構造上に半透明にオーバーレイされる;
計画された骨カットが、術中の脛骨および大腿骨の表面上に線として視覚化される;
半透明平面が、骨の遮蔽を考慮しながら、骨カットを表すために視覚化される。(平面が骨のボリューム(volume)の外側にのみ示される);および/または、
計画されたドリルピンの配置が、線および進入ホール(穴:holes)として視覚化される。
仮想骨モデルが、視覚的基準および質測定基準として、実際の解剖学的構造上に半透明にオーバーレイされる;
計画された開口が、術中の関節窩骨の表面上に、トンネルまたはドリルシリンダ(円柱)として視覚化される;および/または、
半透明平面が、骨の遮蔽を考慮しながら、開口(またはトンネル)の深さを表すように視覚化される(平面が骨のボリュームの外側にのみ示される)。
Claims (20)
- 拡張現実支援手術を提供する方法であって、
1つ以上の解剖学的部分に対応する1つ以上の解剖学的要素を含む1つ以上の仮想要素を含む仮想シーンを生成する工程と、
前記1つ以上の解剖学的部分を含む実際の物理シーンにおける1つ以上の基準を特定する工程と、
拡張シーンを生成するために、前記仮想シーンを前記1つ以上の基準にレジストレーションする工程と、
前記拡張シーンを表示デバイス上に表示する工程と、
を含む、方法。 - 前記実際の物理シーンの1つ以上の画像を獲得する工程をさらに含む、請求項1に記載の方法。
- 前記1つ以上の基準は、前記1つ以上の解剖学的部分上に配置された患者固有のガイドを含む、請求項1または2に記載の方法。
- 前記1つ以上の解剖学的部分の少なくとも1つの画像を獲得する工程と、
前記1つ以上の解剖学的部分の1つ以上の仮想3Dモデルを生成するために、前記少なくとも1つの画像をセグメンテーションする工程と、
をさらに含む、請求項1~3のいずれか一項に記載の方法。 - 前記1つ以上の解剖学的部分の1つ以上の仮想3Dモデルを獲得する工程と、
前記1つ以上の仮想3Dモデルに基づいて、1つ以上のインプラントコンポーネントを決定する工程と、
前記1つ以上の仮想3Dモデルに基づいて、前記1つ以上のインプラントコンポーネントのサイズおよび位置を決定する工程と、
をさらに含み、
前記1つ以上の解剖学的要素は、決定された前記位置における決定された前記サイズを有する前記1つ以上のインプラントコンポーネントの描写を含む、請求項1~4のいずれか一項に記載の方法。 - 前記1つ以上の解剖学的要素は、前記1つ以上の画像において覆い隠された前記1つ以上の解剖学的部分の部分を含む、請求項2~4のいずれか一項に記載の方法。
- 前記1つ以上の解剖学的要素は、前記1つ以上の解剖学的部分に対応する強調表示を含む、請求項1~6のいずれか一項に記載の方法。
- 前記1つ以上の基準は、前記実際の物理シーン内の物理的マーカまたはオブジェクトを含む、請求項1~7のいずれか一項に記載の方法。
- 前記1つ以上の基準は、前記1つ以上の解剖学的部分上の標識を含む、請求項1~8のいずれか一項に記載の方法。
- 前記1つ以上の基準は、前記1つ以上の解剖学的部分に対応する1つ以上の解剖学的3Dモデル上の標識を含む、請求項1~9のいずれか一項に記載の方法。
- 前記1つ以上の基準のインプットは、マーキングデバイスを介して受け取られる、請求項1~10のいずれか一項に記載の方法。
- 前記1つ以上の基準のインプットは、手術計画を介して受け取られる、請求項1~11のいずれか一項に記載の方法。
- 前記1つ以上の解剖学的部分の1つ以上の仮想3Dモデルを獲得する工程をさらに含み、
前記1つ以上の基準は、前記1つ以上の仮想3Dモデルおよび前記物理シーンの前記1つ以上の画像に対して形状認識を実行することにより、自動的に決定される、請求項1~12のいずれか一項に記載の方法。 - 前記1つ以上の画像に基づいて前記1つ以上の解剖学的部分の1つ以上の測定を実行する工程をさらに含み、
前記1つ以上の解剖学的要素は、前記1つ以上の測定結果を含む、請求項2~13のいずれか一項に記載の方法。 - 前記1つ以上の解剖学的要素は、手術手技の1つ以上の工程のためのガイダンスを含み、
前記1つ以上の解剖学的要素は、前記手術手技の前記工程に対応する順序で表示される、請求項1~14のいずれか一項に記載の方法。 - 前記1つ以上の解剖学的要素は、前記1つ以上の解剖学的部分に対して手術を実行するための、計画された器具軌道またはシミュレートされた器具軌道を含む、請求項1~15のいずれか一項に記載の方法。
- 前記1つ以上の画像内の器具と前記器具のための計画された軌道との間の位置合わせを決定する工程をさらに含み、
前記1つ以上の解剖学的要素は、前記位置合わせを示す、請求項2~16のいずれか一項に記載の方法。 - 前記1つ以上の画像または別のインプットに基づいて、前記1つ以上の画像が手術の複数の工程のうちのいずれの工程に対応するのかを決定する工程と、
決定された前記工程に基づいて、決定された前記工程に属する前記1つ以上の解剖学的要素のうちの少なくとも1つを生成する工程と、
をさらに含む、請求項2~17のいずれか一項に記載の方法。 - 非一時的なコンピュータ可読媒体であって、
コンピューティングデバイスのプロセッサによって実行されると、前記コンピューティングデバイスに、請求項1~18のいずれか一項に記載の方法を実行させる、当該媒体上に格納されたコンピュータ実行可能な命令を有する、媒体。 - メモリと、
請求項1~18のいずれか一項に記載の方法を実行するように構成されたプロセッサと、
を備える、コンピューティングデバイス。
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AU2019289081B2 (en) | 2018-06-19 | 2022-02-24 | Howmedica Osteonics Corp. | Mixed reality-aided education related to orthopedic surgical procedures |
AU2021267483A1 (en) * | 2020-05-04 | 2023-01-19 | Howmedica Osteonics Corp., | Mixed reality-based screw trajectory guidance |
CN112535475B (zh) * | 2020-11-24 | 2021-11-19 | 中国标准化研究院 | 基于刚性上臂模型的功能性肩关节旋转中心定位方法 |
US11694533B2 (en) | 2021-01-22 | 2023-07-04 | Cilag Gmbh International | Predictive based system adjustments based on biomarker trending |
US11682487B2 (en) * | 2021-01-22 | 2023-06-20 | Cilag Gmbh International | Active recognition and pairing sensing systems |
US12011163B2 (en) | 2021-01-22 | 2024-06-18 | Cilag Gmbh International | Prediction of tissue irregularities based on biomarker monitoring |
US20220257320A1 (en) * | 2021-02-18 | 2022-08-18 | Mazor Robotics Ltd. | Systems, devices, and methods for tool skive avoidance |
CN113509266A (zh) * | 2021-04-01 | 2021-10-19 | 上海复拓知达医疗科技有限公司 | 增强现实信息显示装置、方法、可读存储介质及设备 |
US20230018541A1 (en) * | 2021-07-08 | 2023-01-19 | Videntium, Inc. | Augmented/mixed reality system and method for orthopaedic arthroplasty |
US20230293238A1 (en) * | 2022-03-18 | 2023-09-21 | DePuy Synthes Products, Inc. | Surgical systems, methods, and devices employing augmented reality (ar) for planning |
EP4275641A1 (en) * | 2022-05-12 | 2023-11-15 | Stryker European Operations Limited | Technique for visualizing a planned implant |
AU2023206163A1 (en) * | 2022-07-27 | 2024-02-15 | Techtronic Cordless Gp | Augmented reality device to indicate a plan for tool usage |
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