JP5675621B2 - 医療用ロボットシステムおよび該医療用ロボットシステムの作動方法 - Google Patents
医療用ロボットシステムおよび該医療用ロボットシステムの作動方法 Download PDFInfo
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Description
本願は、米国仮特許出願第61/101,384号(2008年9月30日出願、発明者Nicola Diolaitiら、名称「MEDICAL ROBOTIC SYSTEM PROVIDING COMPUTER GENERATED AUXILIARY VIEWS OF A CAMERA INSTRUMENT FOR CONTROLLING THE POSITIONING AND ORIENTING OF ITS TIP」)の利益を主張し、米国特許出願第12/163,087号の一部継続出願であり、これらの出願は、本明細書に参考として援用される。
本発明は、概して、医療用ロボットシステムに関し、具体的には、カメラ機器の先端部の配置および配向を制御するための、カメラ機器のコンピュータ生成された補助的ビューを提供する医療用ロボットシステムに関する。
WO2008/103383A1は、エンドスコープシステムについて記載し、このシステムにおいては、エンドスコープがカメラおよび機器を自身の遠位端に配置するように配置され得る。エンドスコープ上に設置された基準は、事前に規定された定位の空間内における遠位先端の追跡を可能にし、それにより、カメラによって捕らえられた画像は、記録され得、三次元の事前操作スキャンデータと組み合わされ、それは、モニター上に表示するためにプロセッサによって拡大、回転および/または、概して処理され得る。
例えば、本発明は、以下の項目を提供する。
(項目1)
カメラ先端部を配置および配向する方法であって、
該カメラ先端部を配置および配向するために使用される機械的要素の位置を決定することと、
該機械的要素の該決定された位置を使用して、該カメラ先端部の位置および方向を決定することと、
仮想カメラのパースペクティブに対応する該カメラのコンピュータモデルのビューを生成することと、
表示画面上に該ビューを表示することと、
入力デバイスの操作に応じて該機械的要素を動かすことによって、該カメラ先端部の該配置および配向を制御することであって、これにより、該カメラの該コンピュータモデルの該表示されたビューに対応する該表示画面を視認しながら、該カメラ先端部の前記配置および配向が、該入力デバイスを操作している操作者に直感的に見える、ことと
を含む、方法。
(項目2)
前記機械的要素の前記位置の前記決定は、該位置を感知するセンサによって提供される情報を使用して、該機械的要素の該位置を決定することを含む、項目1に記載の方法。
(項目3)
前記機械的要素は、前記カメラ先端部を配置および配向するために使用されるマニピュレータの継手を含む、項目2に記載の方法。
(項目4)
前記機械的要素は、前記カメラ先端部を配置および配向するために使用されるマニピュレータのリンクを含む、項目2に記載の方法。
(項目5)
前記機械的要素の前記位置の前記決定は、該機械的要素を配置するために使用されるアクチュエータの作動を感知するエンコーダによって提供される情報を使用して、該機械的要素の該位置を決定することを含む、項目1に記載の方法。
(項目6)
前記機械的要素は、前記カメラ先端部を配置および配向するために使用されるマニピュレータに含まれ、該機械的要素の前記位置の前記決定は、
該カメラ先端部上に配置されたセンサから情報を受信することと、
該センサから受信された該情報を該マニピュレータの逆運動学に適用することによって、該機械的要素の該位置を算出することと
を含む、項目1に記載の方法。
(項目7)
前記機械的要素は、前記カメラ先端部を配置および配向するために使用されるマニピュレータに含まれ、該機械的要素の前記決定された位置を使用する、該カメラ先端部の前記位置および方向の前記決定は、該機械的要素の該決定された位置を該マニピュレータの順運動学に適用することによって、該カメラ先端部の該位置および方向を算出することを含む、項目1に記載の方法。
(項目8)
前記仮想カメラの前記パースペクティブに対応する、前記カメラの前記コンピュータモデルの前記ビューの前記生成は、
該カメラの3次元コンピュータモデルを生成することと、
該コンピュータモデルを該仮想カメラの該パースペクティブに変換することと
を含む、項目1に記載の方法。
(項目9)
前記カメラは、進入ガイドの外に延在する関節運動可能なカメラ機器であり、該仮想カメラは、該カメラと同一の特徴を有し、該仮想カメラの前記パースペクティブは、該カメラ機器が該進入ガイドの外に延在する位置および方向にあり、該位置および方向は、該仮想カメラの視界内にある、項目8に記載の方法。
(項目10)
少なくとも1つの関節運動可能な機器は、前記関節運動可能なカメラ機器とともに前記進入ガイドの外に延在し、前記仮想カメラの前記パースペクティブは、該少なくとも1つの関節運動可能な機器および該カメラ機器が前記進入ガイドの外に延在する位置および方向にあり、該位置および方向は、少なくとも部分的に該仮想カメラの前記視界内にある、項目9に記載の方法。
(項目11)
前記カメラは、進入ガイドの外に延在する関節運動可能なカメラ機器であり、前記カメラ先端部の前記位置および方向を前記制御することは、
前記仮想カメラの前記位置に始点を有し、基準座標系の1つの軸が該進入ガイドの近位端と遠位端との間に延在する長手軸上の焦点に向かうように配向されるデカルト基準座標系を画定することと、
前記入力デバイスの前記操作者による操作に応じて該カメラ先端部の該位置および方向を制御することであって、それにより、該入力デバイスと関連付けられたデカルト基準座標系における該入力デバイスの動きが、該仮想カメラの該デカルト基準座標系に対する該カメラ先端部の対応するスケールされた動きをもたらす、ことと
を含む、項目1に記載の方法。
(項目12)
前記カメラは、進入ガイドの外に延在する関節運動可能なカメラ機器であり、前記カメラ先端部の前記位置および方向を前記制御することは、
始点を有するデカルト基準座標系を画定することであって、該始点において、該進入ガイドの中央長手軸が該進入ガイドの遠位端で直交面と交差し、該カメラ機器が該進入ガイドの外に延在し、該基準座標系の1つの軸が該中央長手軸と平行であるように配向される、ことと、
前記入力デバイスの前記操作者による操作に応じて該カメラ先端部の該位置および方向を制御することであって、それにより、該入力デバイスと関連付けられたデカルト基準座標系における該入力デバイスの動きが、該進入ガイドの該遠位端で画定される該デカルト基準座標系に対する該カメラ先端部の対応するスケールされた動きをもたらす、ことと
を含む、項目1に記載の方法。
(項目13)
前記カメラ先端部の前記位置および方向を制御することの前に、
前記入力デバイスと関連付けられた機器の制御を関与解除して、該機器を適所に保持することと、
該カメラ先端部の方向に対して該入力デバイスの方向を整列させることと、
該入力デバイスを用いて該カメラ先端部の制御に関与することと
をさらに含む、項目1に記載の方法。
(項目14)
前記カメラの前記位置および方向を制御することの後に、
前記入力デバイスを用いて前記カメラ先端部の制御を関与解除して、該カメラ先端部を適所に保持することと、
前記機器の先端の方向に対して、該入力デバイスの前記方向を整列させることと、
前記入力デバイスを用いて前記機器の制御に関与することと
をさらに含む、項目13に記載の方法。
(項目15)
医療用ロボットシステムであって、
カメラと、
カメラ先端部を配置および配向するために使用される機械的要素と、
表示画面と、
入力デバイスと、
コントローラであって、
該機械的要素の位置を決定すること、該機械的要素の該決定された位置を使用して該カメラ先端部の位置および方向を決定すること、仮想カメラのパースペクティブに対応する該カメラのコンピュータモデルのビューを生成すること、該表示画面に該ビューを表示すること、および、該入力デバイスの操作に応じて該機械的要素を動かすことによって該カメラ先端部の該配置および配向を制御することを実行するように構成されることにより、該カメラの該コンピュータモデルの該表示されたビューに対応する該表示画面を視認しながら、該カメラ先端部の該配置および配向が入力デバイスを操作している操作者に直感的に見える、コントローラと
を備える、医療用ロボットシステム。
(項目16)
前記コントローラは、前記位置を感知するセンサによって提供される情報を使用して、前記機械的要素の前記位置を決定するように構成される、項目15に記載の医療用ロボットシステム。
(項目17)
前記機械的要素は、前記カメラ先端部を配置および配向するために使用されるマニピュレータの継手を含む、項目15に記載の医療用ロボットシステム。
(項目18)
前記機械的要素は、前記カメラ先端部を配置および配向するために使用されるマニピュレータのリンクを含む、項目15に記載の医療用ロボットシステム。
(項目19)
前記機械的要素を配置するために使用されるアクチュエータをさらに備え、前記コントローラは、該アクチュエータの作動を感知するエンコーダによって提供される情報を使用して、該機械的要素の該位置を決定するように構成される、項目15に記載の医療用ロボットシステム。
(項目20)
前記機械的要素は、前記カメラ先端部を配置および配向するために使用されるマニピュレータに含まれ、前記コントローラは、該カメラ先端部上に配置されたセンサから情報を受信することと、該センサから受信した該情報を該マニピュレータの逆運動学に適用することによって、該機械的要素の前記位置を算出することとによって、該機械的要素の該位置を決定するように構成される、項目15に記載の医療用ロボットシステム。
(項目21)
前記機械的要素は、前記カメラ先端部を配置および配向するために使用されるマニピュレータに含まれ、前記コントローラは、該機械的要素の前記決定された位置を該マニピュレータの順運動学に適用することによって、該カメラ先端部の該位置および方向を算出するように構成される、項目15に記載の医療用ロボットシステム。
(項目22)
前記コントローラは、前記カメラの3次元コンピュータモデルを生成し、該コンピュータモデルを前記仮想カメラの前記パースペクティブに変換することによって、該仮想カメラの該パースペクティブに対応する該カメラの該コンピュータモデルの前記ビューを生成するように構成される、項目15に記載の医療用ロボットシステム。
(項目23)
進入ガイドをさらに備え、前記カメラは、該進入ガイドの外に延在する関節運動可能なカメラ機器であり、前記仮想カメラは、該カメラと同一の特徴を有し、該仮想カメラの前記パースペクティブは、該カメラ機器が該進入ガイドの外に延在する位置および方向にあり、該位置および方向は、該仮想カメラの視界内にある、項目22に記載の医療用ロボットシステム。
(項目24)
少なくとも1つの関節運動可能な機器をさらに備え、該少なくとも1つの関節運動可能な機器は、前記関節運動可能なカメラ機器とともに前記進入ガイドの外に延在し、前記仮想カメラの前記パースペクティブは、該少なくとも1つの関節運動可能な機器および該進入ガイドの外に延在する位置および方向にあり、該位置および方向は、少なくとも部分的に前記仮想カメラの前記視界内にある、項目23に記載の医療用ロボットシステム。
(項目25)
進入ガイドをさらに備え、前記カメラは、該進入ガイドの外に延在する関節運動可能なカメラ機器であり、前記コントローラは、
前記仮想カメラの前記位置に始点を有し、基準座標系の1つの軸が該進入ガイドの近位端と遠位端との間に延在する長手軸上の焦点に向かうように配向される、デカルト基準座標系を画定することと、
該入力デバイスと関連付けられたデカルト基準座標系における該入力デバイスの動きが、該仮想カメラの該デカルト基準座標系に対する前記カメラ先端部の対応するスケールされた動きをもたらすように、該入力デバイスの操作者による操作に応じて該カメラ先端部の前記位置および方向を制御することと
を実行するように構成される、項目15に記載の医療用ロボットシステム。
(項目26)
進入ガイドをさらに備え、前記カメラは、該進入ガイドの外に延在する関節運動可能なカメラ機器であり、前記コントローラは、
該進入ガイドの中央長手軸が該進入ガイドの遠位端で直交面と交差している始点を有し、前記カメラ機器が該進入ガイドの外に延在し、前記基準座標系の1つの軸が該中央長手軸と平行であるように配向される、デカルト基準座標系を画定することと、
前記入力デバイスと関連付けられたデカルト基準座標系における該入力デバイスの動きが、該進入ガイドの該遠位端で画定される該デカルト基準座標系に対する前記カメラ先端部の対応するスケールされた動きをもたらすように、該入力デバイスの前記操作者による操作に応じて該カメラ先端部の前記位置および方向を制御することと
を実行するように構成される、項目15に記載の医療用ロボットシステム。
(項目27)
前記コントローラは、
前記カメラ先端部の前記配置および配向を制御する前に、
前記入力デバイスと関連付けられた機器の制御を関与解除して、該機器を適所に保持することと、
該カメラ先端部の方向に対して該入力デバイスの方向を整列させることと、
該入力デバイスを用いて該カメラ先端部の制御に関与することと
を実行するように構成される、項目15に記載の医療用ロボットシステム。
(項目28)
コントローラは、前記カメラの前記位置および方向を制御した後に、
前記入力デバイスを用いて前記カメラ先端部の制御を関与解除して、該カメラ先端部を適所に保持することと、
前記機器の先端の方向に対して該入力デバイスの前記方向を整合させることと、
該入力デバイスを用いて該機器の制御に関与することと
を実行するように構成される、項目27に記載の医療用ロボットシステム。
Claims (18)
- 医療用ロボットシステムの作動方法であって、該方法は、
該医療用ロボットシステムのコントローラによって実行され、そして、以下:
関節運動可能なカメラ機器(211)の機械的要素(322−327)であって、該関節運動可能なカメラ機器(211)のカメラ先端部(311)を配置および配向するために用いられる機械的要素(322−327)の位置を決定することと、
該機械的要素(322−327)の該決定された位置を使用して、該カメラ先端部(311)の位置および配向を決定することと、
仮想カメラ(2103)のパースペクティブに対応する該関節運動可能なカメラ機器(211)のコンピュータモデルのビューを生成することであって、該仮想カメラ(2103)が、該カメラ先端部(311)が該仮想カメラ(2103)の視野内にあるように該関節運動可能なカメラ機器(211)とは異なって位置決めされ、かつ配向されるように構成されることと、
入力デバイス(108、109)の操作に応じて該機械的要素(322−327)を動かすことによって該カメラ先端部(311)の該配置および配向を制御することであって、これにより、該入力デバイス(108、109)と関連付けられた基準座標系における該入力デバイス(108、109)の動きが、該仮想カメラ(2103)と関連付けられた基準座標系に対する該カメラ先端部(311)の対応するスケールされた動きをもたらし、その結果、該関節運動可能なカメラ機器(211)の該コンピュータモデルの該表示されたビューに対応する該表示画面(140、104)を視認しながら、該カメラ先端部(311)の該配置および配向が、該入力デバイス(108、109)を操作している操作者に直感的に見える、ことと
を含む、作動方法。 - 前記入力デバイス(108、109)の操作に応じて前記機械的要素(322−327)を動かすことによって前記カメラ先端部(311)の前記配置および配向を制御することの前に実施される以下の実施:
前記表示画面(140、104)上に表示される生成された前記関節運動可能なカメラ機器(211)のコンピュータモデルのビューにおける前記カメラ先端部に対する前記入力デバイス(108、109)の現在の配向と、前記仮想カメラ(2103)と関連付けられた基準座標系に対する前記カメラ先端部(311)の現在の配向との間のオフセットを算出すること;
並進運動オフセットをキャンセルするために、該入力デバイス(108、109)の現在の位置を、該カメラ先端部(311)の現在の位置にマッピングすること;および
該入力デバイス(108、109)の作業空間と該カメラ先端部(311)との間にユーザが選択可能なスケーリングファクタを設定すること、をさらに包含する、請求項1に記載の作動方法。 - 前記機械的要素(322−327)の前記位置の前記決定は、該機械的要素の該位置を感知するセンサによって、または該機械的要素を位置決めするために用いられるアクチュエータ(801−803、811−813)の作動を感知するエンコーダのいずれかによって提供される情報を使用して、該機械的要素(322−327)の該位置を決定することを含む、請求項1に記載の作動方法。
- 前記機械的要素(322−327)の前記位置の前記決定は、
該カメラ先端部(311)の状態情報を受信することと、
受信された該状態情報を該関節運動可能なカメラ機器の逆運動学に適用することによって、該機械的要素(322−327)の該位置を算出することと
を含む、請求項1に記載の作動方法。 - 前記機械的要素はリンクおよび継手を含み、該機械的要素の前記決定された位置を使用する該カメラ先端部(311)の前記位置および配向の決定は、該機械的要素(322−327)の継手の該決定された位置を該関節運動可能なカメラ機器の順運動学に適用することによって、および該関節運動可能なカメラ機器の運動学モデルを使用することによって、前記仮想カメラのパースペクティブに対する該リンクの位置および配向を算出することを含む、請求項1に記載の作動方法。
- 前記仮想カメラ(2103)の前記パースペクティブに対応する前記カメラの前記コンピュータモデルの前記ビューの前記生成は、
該関節運動可能なカメラ機器(211)の3次元コンピュータモデルを生成することと、
該コンピュータモデルを該仮想カメラ(2103)の該パースペクティブに変換することと
を含む、請求項1に記載の作動方法。 - 前記関節運動可能なカメラ機器(211)は、進入ガイド(200)の外に延在し、前記仮想カメラ(2103)と関連付けられた前記基準座標系は、デカルト基準座標系として画定され、該進入ガイド(200)の近位端と遠位端との間に延在する長手軸上の焦点に該基準座標系の1つの軸が向かうように配向され、該デカルト基準座標系は、該仮想カメラ(2103)の前記位置に始点を有する、請求項1に記載の作動方法。
- 前記カメラ先端部(311)の前記位置および配向を制御することの前に、
前記入力デバイス(108、109)と関連付けられた機器(231、241)の制御を関与解除して、該機器を適所に保持することと、
該カメラ先端部(311)の配向に対して該入力デバイス(108、109)の配向を整列させることと、
該入力デバイス(108、109)を用いて該カメラ先端部(311)の制御に関与することと
をさらに含む、請求項1に記載の作動方法。 - 前記関節運動可能なカメラ機器(211)の前記位置および配向を制御することの後に、
前記入力デバイス(108、109)を用いる前記カメラ先端部(311)の制御を関与解除して、該カメラ先端部(311)を適所に保持することと、
前記機器(231、241)の先端の配向に対して該入力デバイス(108、109)の前記配向を整列させることと、
前記入力デバイス(108、109)を用いて該機器(231、241)の制御に関与することと
をさらに含む、請求項8に記載の作動方法。 - 関節運動可能なカメラ機器(211)であって、該関節運動可能なカメラ機器(211)の先端部(311)を配置および配向するために使用される機械的要素(322−327)を有する関節運動可能なカメラ機器と、表示画面(140、104)と、入力デバイス(108、109)とを有する医療用ロボットシステム(100)であって、該医療用ロボットシステム(100)は、
該機械的要素(322−327)の位置を決定することと、該機械的要素(322−327)の該決定された位置を使用して該カメラ先端部(311)の位置および配向を決定することと、仮想カメラ(2103)のパースペクティブに対応する該関節運動可能なカメラ機器(211)のコンピュータモデルのビューを生成することと、該表示画面(140、104)に該ビューを表示することと、該入力デバイス(108,109)の操作に応じて該機械的要素(322―327)を動かすことによって、該カメラ先端部(311)の配置および配向を制御することであって、これにより、該入力デバイス(108、109)と関連付けられた基準座標系における該入力デバイス(108、109)の動きが、該仮想カメラ(2103)と関連付けられた基準座標系に対する該カメラ先端部(311)の対応するスケールされた動きをもたらし、その結果、該関節運動可能なカメラ機器(211)の該コンピュータモデルの該表示されたビューに対応する該表示画面(140,104)を視認しながら、該カメラ先端部(311)の該配置および配向が該入力デバイス(108、109)を操作している操作者に直感的に見えることとを実行するように構成されたコントローラ(102)を特徴とし、
該仮想カメラ(2103)が、該カメラ先端部(311)が該仮想カメラ(2103)の視野内にあるように該関節運動可能なカメラ機器(211)とは異なって位置決めされ、かつ配向されるように構成されている、医療用ロボットシステム(100)。 - 請求項10に記載の医療用ロボットシステム(100)であって、
前記コントローラが、前記入力デバイス(108、109)の操作に応じて前記機械的要素(322−327)を動かすことによって前記カメラ先端部(311)の前記配置および配向を制御することの前に実施される以下の実施:
前記表示画面(140、104)上に表示される生成された前記関節運動可能なカメラ機器のコンピュータモデルのビューにおける前記カメラ先端部に対する前記入力デバイス(108、109)の現在の配向と、前記仮想カメラ(2103)と関連付けられた基準座標系に対する前記カメラ先端部(311)の現在の配向との間のオフセットを算出すること;
並進運動オフセットをキャンセルするために、該入力デバイス(108、109)の現在の位置を、該カメラ先端部(311)の現在の位置にマッピングすること;および
該入力デバイス(108、109)の作業空間と該カメラ先端部(311)との間にユーザが選択可能なスケーリングファクタを設定することを実施するように構成されている、医療用ロボットシステム(100)。 - 前記コントローラ(102)は、前記機械的要素の位置を感知するセンサまたは前記アクチュエータ(801−803、811−813)の作動を感知するエンコーダのいずれかによって提供される情報を使用することにより、前記機械的要素(322−327)の前記位置を決定するように構成される、請求項10に記載の医療用ロボットシステム(100)。
- 前記コントローラ(102)は、該カメラ先端部(311)の状態情報を受信することと、受信した状態情報を該関節運動可能なカメラ機器の逆運動学に適用することによって、該機械的要素(322−327)の前記位置を算出することとによって、該機械的要素(322−327)の該位置を決定するように構成される、請求項10に記載の医療用ロボットシステム(100)。
- 前記機械的要素はリンクおよび継手を含み、前記コントローラ(102)は、該機械的要素(322−327)の継手の前記決定された位置を該関節運動可能なカメラ機器の順運動学に適用することによって、および該関節運動可能なカメラ機器の運動学モデルを用いることによって前記仮想カメラのパースペクティブに対する該リンクの位置および配向を算出するように構成される、請求項10に記載の医療用ロボットシステム(100)。
- 前記コントローラ(102)は、前記関節運動可能なカメラ機器(211)の3次元コンピュータモデルを生成し、該コンピュータモデルを前記仮想カメラ(2103)の前記パースペクティブに変換することによって、該仮想カメラ(2103)の該パースペクティブに対応する該関節運動可能なカメラ機器(211)の該コンピュータモデルの前記ビューを生成するように構成される、請求項10に記載の医療用ロボットシステム(100)。
- 進入ガイド(200)をさらに備え、前記関節運動可能なカメラ機器は、該進入ガイド(200)から延在し、前記仮想カメラ(2103)と関連付けられた前記基準座標軸は、デカルト基準座標系として画定され、該進入ガイド(200)の近位端と遠位端との間に延在する長手軸上の焦点に該基準座標系の1つの軸が向かうように配向され、該デカルト基準座標系は、該仮想カメラ(2103)の前記位置に始点を有する、請求項10に記載の医療用ロボットシステム(100)。
- 前記コントローラ(102)は、
前記カメラ先端部(311)の前記配置および配向を制御する前に、
前記入力デバイス(108、109)と関連付けられた機器(231、241)の制御を関与解除して、該機器(231、241)を適所に保持することと、
該カメラ先端部(311)の配向に対して該入力デバイス(108、109)の配向を整列させることと、
該入力デバイス(108、109)を用いて該カメラ先端部(311)の制御に関与することと
を実行するように構成される、請求項10に記載の医療用ロボットシステム(100)。 - 前記コントローラ(102)は、前記カメラ先端部(311)の前記位置および配向を制御した後に、
前記入力デバイス(108、109)を用いて前記カメラ先端部(311)の制御を関与解除して、該カメラ先端部(311)を適所に保持することと、
前記機器(231、241)の先端の配向に対して該入力デバイス(108、109)の前記配向を整列させることと、
該入力デバイス(108、109)を用いて該機器(231、241)の制御に関与することと
を実行するように構成される、請求項17に記載の医療用ロボットシステム(100)。
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