JP6722652B2 - 手術中のセグメンテーションについてのシステム及び方法 - Google Patents
手術中のセグメンテーションについてのシステム及び方法 Download PDFInfo
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Description
本特許出願は、2014年7月28日に出願された、”SYSTEMS AND METHODS FOR INTRAOPERATIVE SEGMENTATION”という標題の米国仮特許出願第62/029,927号について優先権を主張するとともに、その出願日の利益を主張するものであり、この文献は、その全体を参照することにより本明細書に組み込まれる。
Anatomical Structure for Image-Guided Surgery”)を開示する)は、そのようなシステムの1つを開示しており、この文献は、参照によりその全体が本明細書に組み込まれる。
Gratings”を開示する)に記載されており、この文献は、その全体を参照することにより本明細書に組み込まれる。光ファイバを使用して、カテーテルシステム202の少なくとも一部の形状を監視することができる。より具体的には、光ファイバを通過する光を処理して、カテーテルシステム202の形状を検出するとともに、その情報を利用して外科的処置を支援する。センサーシステム(例えば、センサーシステム108)は、カテーテルシステム202の形状を決定するために使用される光を生成し且つ検出するための問合せシステムを含むことができる。次に、この情報を使用して、医療器具システムの部品の速度及び加速度等の関連する他の変数を決定することができる。センシング(感知)は、遠隔操作可能なシステムによって作動される自由度にだけ限定してもよく、又は受動(例えば、剛性部材の関節同士間の非作動状態の曲げ)及び能動(例えば、器具の作動状態の運動)の両方の自由度に適用することができる。
on the Object Being Tracked”を開示する)に提供されており、この文献は、その全体を参照することにより本明細書に組み込まれる。
Surgery with Enhanced Dexterity and Sensitivity”を開示する)、及び米国特許出願第12/286,644号(2008年9月30日出願)(”Passive Preload and Capstan Drive for Surgical Instruments”を開示する)に詳細に記載されており、これらの文献は、それら全体が参照により本明細書に組み込まれる。
Anatomical Structure for Image-Guided Surgery”を開示する)に提供されており、この文献は、参照によりその全体が本明細書に組み込まれる。
Navigation of Interventional Tools”を開示する)に記載されており、この文献は、参照によりその全体が本明細書に組み込まれる。プロセス458において、リンク付されたツリー構造は、米国仮特許出願第第61/935,547号号にさらに詳細に記載されているように、メッシュモデルから生成することができる。
Coherence Tomography)は、干渉計を使用して微細組織構造を測定する技術である。OCTは、解剖学的通路の3D表面を測定するための距離計としても使用できる。
Claims (11)
- 手術システムであって、当該手術システムは、
感知ツールを含む医療器具と、
1つ又は複数のプロセッサを含む処理ユニットと、有しており、
前記処理ユニットは、
セグメンテーション・プロセスを使用して、画像のセットから解剖学的モデルを生成し、
前記医療器具の一部の位置を前記解剖学的モデルに位置合わせし、
前記医療器具の一部が患者の解剖学的構造を横断する間に、前記感知ツールから前記患者の解剖学的構造に関するデータを受け取り、
前記解剖学的モデルと前記医療器具が横断した患者の解剖学的構造との間の差異を判定し、ここで該差異を判定することには、前記感知ツールが前記解剖学的モデルによって表されている前記患者の解剖学的構造の第1の通路及び前記解剖学的モデルによって表されていない前記患者の解剖学的構造の第2の通路に位置している間に、前記感知ツールによって得られた形状データを解析することが含まれ、
該判定された差異に応答して、前記モデルを更新する、ように構成される、
手術システム。 - 前記感知ツールは、飛行時間型カメラ、空間データセンサー、内視鏡カメラ、蛍光透視注入システム、レーザ走査型装置、血管内超音波装置、及び生検ツールのうちの少なくとも1つを含む、請求項1に記載の手術システム。
- 前記解剖学的モデルは、前記患者の解剖学的構造の画像のセットから生成される、請求項1に記載の手術システム。
- 前記差異を判定することには、前記感知ツールによって得られた少なくとも1つの画像を解析することが含まれる、請求項1に記載の手術システム。
- 前記解剖学的モデルと前記患者の解剖学的構造との間の差異は、前記解剖学的モデルに見出されていない、前記患者の解剖学的構造内の第1の解剖学的通路である、請求項1に記載の手術システム。
- 前記モデルを更新することには、第1の解剖学的通路に対応する新しいシード値を用いて前記セグメンテーション・プロセスを再適用することが含まれる、請求項5に記載の手術システム。
- 前記解剖学的モデルと前記患者の解剖学的構造との間の差異は、第1の解剖学的通路のサイズである、請求項1に記載の手術システム。
- 前記差異を判定することには、前記差異が前記患者の解剖学的構造の呼吸運動に基づくかどうかを判定することが含まれる、請求項1に記載の手術システム。
- 前記医療器具の一部は、前記医療器具の先端部である、請求項1に記載の手術システム。
- 医療システムの作動方法であって、当該作動方法は、
前記医療システムの制御システムが、セグメンテーション・プロセスの使用によって、画像のセットから解剖学的モデルを取得するステップと、
前記制御システムが、患者の解剖学的構造を横断させる間に、感知器具から取得した解剖学的パラメータを含む、記憶したデータを受け取るステップと、
前記制御システムが、前記解剖学的モデルを前記記憶したデータと比較することにより、前記解剖学的モデルと前記患者の解剖学的構造との間の差異を判定するステップであって、前記記憶したデータは、前記感知器具が前記解剖学的モデルによって表されている前記患者の解剖学的構造の第1の通路及び前記解剖学的モデルによって表されていない前記患者の解剖学的構造の第2の通路に位置している間に、前記感知器具によって得られた形状データを含む、判定するステップと、
前記制御システムが、前記解剖学的パラメータを用いて前記セグメンテーション・プロセスを再適用することによって、前記解剖学的モデルを更新するステップであって、該解剖学的モデルを更新するステップは、前記制御システムが、前記形状データに基づいて前記第2の通路の表現を用いて前記解剖学的モデルを更新することを含む、更新するステップと、を含む、
作動方法。 - 前記解剖学的パラメータは、通路に対応するシード点であり、前記モデルを更新するステップは、前記制御システムが、前記シード点を用いて前記セグメンテーション・プロセスを再適用するステップを含む、請求項10に記載の作動方法。
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US201462029927P | 2014-07-28 | 2014-07-28 | |
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PCT/US2015/040988 WO2016018646A1 (en) | 2014-07-28 | 2015-07-17 | Systems and methods for intraoperative segmentation |
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EP4328856A3 (en) | 2024-06-12 |
JP2017523836A (ja) | 2017-08-24 |
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