JP6307073B2 - 手術用システムにおける効率的且つインタラクティブな出血検出 - Google Patents
手術用システムにおける効率的且つインタラクティブな出血検出 Download PDFInfo
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Description
M(i,j)=MTissue(i,j)+MBlood(i,j)
として規定される。ただし、M(i,j)は、処理602からの位置(i,j)における全体の動きであり、MTissue(i,j)は、位置(i,j)におえる組織の動きであり、MBlood(i,j)は、位置(i,j)における血液の動きである。
MBlood(i,j)=M(i,j)-Mavg
である。
Claims (17)
- 画像取得システム、出血検出ユニット、及びディスプレイユニットを有する手術システムの作動方法であって:
前記出血検出ユニットが、前記画像取得システムから手術部位の場面を含むフレームを受信するステップであり、前記フレームは、複数の位置を含み、前記フレームにおける前記複数の位置のそれぞれの位置は、複数の色成分の画素を含むステップと、
前記出血検出ユニットが、前記フレームにおける前記それぞれの位置の前記複数の色成分の画素が前記フレームの当該位置における血液を示す情報を含むか否かを検出するステップと、
前記出血検出ユニットが、前記血液を示す情報を含むものとして検出された前記フレームにおける前記位置に基づいて、前記場面における血液の領域を決定するステップと、
前記出血検出ユニットが、前記場面における前記血液の領域が血液の初期の領域である場合、前記場面における前記血液の領域を初期部位アイコンで識別するステップであり、前記初期部位アイコンは、前記場面における血液の初期の位置を識別するステップと、
前記出血検出ユニットが、前記初期部位アイコンを前記場面と合成し、合成された画像を取得するステップと、
前記出血検出ユニットが、前記合成された画像を前記ディスプレイユニットに送信するステップと
を有する手術システムの作動方法。 - 前記ディスプレイユニットが、前記合成された画像を表示するステップを更に有する、請求項1に記載の手術システムの作動方法。
- ユーザ入力に基づいて前記表示するステップを実行するか否かを決定するステップを更に有する、請求項2に記載の手術システムの作動方法。
- 前記手術システムの情報に基づいて前記表示するステップを実行するか否かを決定するステップを更に有する、請求項2に記載の手術システムの作動方法。
- 前記初期部位アイコンは、矢印を有する、請求項1乃至4のいずれか1項に記載の手術システムの作動方法。
- 前記出血検出ユニットが、前記場面における前記血液の領域を血液マーカーで識別するステップであり、前記血液マーカーは、前記初期部位アイコンと異なるステップを更に有する、請求項1乃至5のいずれか1項に記載の手術システムの作動方法。
- 前記検出するステップは、
前記出血検出ユニットが、比における第1の量がある位置における第1の色成分の画素値を使用して決定された値を含み、前記比における第2の量が前記位置における第2の色成分の画素値を使用して決定された値を含む際の比を生成するステップと、
前記出血検出ユニットが、前記比が血液指標閾値に対して所定の関係を有する場合、前記血液を示す情報を含むものとして前記位置を識別するステップと
を更に有する、請求項1乃至6のいずれか1項に記載の手術システムの作動方法。 - 前記所定の関係は、前記比が前記血液指標閾値より大きいことである、請求項7に記載の手術システムの作動方法。
- 前記検出するステップは、
前記出血検出ユニットが、前記フレームの前記複数の位置について、前記比を生成するステップと、前記位置を識別するステップとを繰り返すステップを更に有する、請求項7に記載の手術システムの作動方法。 - 前記出血検出ユニットが、前記領域におけるシミュレーションされた血流を生成するステップと、
前記ディスプレイユニットが、前記シミュレーションされた血流を表示するステップと
を更に有する、請求項1乃至9のいずれか1項に記載の手術システムの作動方法。 - 前記出血検出ユニットが、ユーザ入力に基づいて前記表示するステップを実行するか否かを決定するステップを更に有する、請求項10に記載の手術システムの作動方法。
- 前記出血検出ユニットが、前記システムからの情報に基づいて前記表示するステップを実行するか否かを決定するステップを更に有する、請求項10に記載の手術システムの作動方法。
- 前記出血検出ユニットが、複数のフレームを使用したオプティカルフロー分析に基づいて、前記場面における前記血液の領域のそれぞれの位置の全体の動きを推定するステップを更に有する、請求項1乃至12のいずれか1項に記載の手術システムの作動方法。
- 前記出血検出ユニットが、ある位置における平均の組織の動きを補うように前記位置における前記推定された全体の動きを補正することにより、前記位置における血流の推定を生成するステップを更に有する、請求項13に記載の手術システムの作動方法。
- 前記出血検出ユニットが、前記複数の位置の前記推定された血流から、前記場面における前記血液の領域のシミュレーションされた血流を生成するステップを更に有する、請求項14に記載の手術システムの作動方法。
- 前記出血検出ユニットが、前記ディスプレイユニット上で外科医に提示される場面が出血が前記手術部位で生じているときと基本的に同時に現れるように、フレームの系列のそれぞれのフレームで、前記受信するステップ、検出するステップ、決定するステップ及び識別するステップを実行するステップを更に有する、請求項1乃至14のいずれか1項に記載の手術システムの作動方法。
- 前記受信するステップ、検出するステップ、決定するステップ及び識別するステップを実行するステップは、前記画像取得システムにより取得された全てのフレーム未満のもので実行される、請求項16に記載の手術システムの作動方法。
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