JP6811228B2 - 器具の配置調整時の画像整列方法とこの方法を実行するロボットシステム - Google Patents
器具の配置調整時の画像整列方法とこの方法を実行するロボットシステム Download PDFInfo
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Description
4 器具
6 撮像システム
8 ロボットアーム
10 制御ユニット
12 X線源
14 検出器
BE 像平面
BR 視線方向
ES 侵入部位
ET 侵入深さ
EW 侵入角度
L 器具の長手軸
O 対象物
S X線方向
Claims (13)
- 複数の運動自由度において動作可能な器具(4)を用いた対象物(O)の処理又は加工において、少なくとも1つの作業過程が含まれていて、該作業過程に関して前記対象物(O)に対する前記器具(4)の配置が規定され、そして該配置の調整が前記運動自由度の一部に関してのみ必要であるときに、前記対象物(O)に対し前記器具(4)の配置を調整するために、計画画像と作業画像とを整列させる画像整列方法であって、
前記対象物(O)の3次元の計画画像を用意し、
前記作業過程における前記器具(4)の配置調整に関し必要な運動自由度を求めて関連自由度として記憶し、
前記作業過程に際し、撮像システム(6)により2次元の作業画像を少なくとも1つ作成し、
前記運動自由度の一部がその他の前記運動自由度よりも高い整列精度をもつように、前記作業画像を前記計画画像と整列させ、
前記関連自由度が前記高い整列精度をもつ運動自由度であるように前記関連自由度に基づいて決定する視線方向(BR)で、前記撮像システム(6)により作業画像を撮像する、ことを含む画像整列方法。 - 前記作業過程ごとに前記作業画像を1つ撮像する、請求項1に記載の画像整列方法。
- 前記処理又は加工に前記作業過程が連続して複数含まれており、
1つの前記作業過程の後で且つ次の前記作業過程の前に、該次の作業過程に関して別の2次元の前記作業画像を作成して前記計画画像と整列させる、再整列を実行する、請求項1又は2に記載の画像整列方法。 - 前記対象物(O)が処理の場所にある間に前記計画画像を作成する、最初の粗レジストレーションを実行する、請求項1〜3のいずれか1項に記載の画像整列方法。
- 前記計画画像は、前記作業画像と同一の前記撮像システム(6)により作成する、請求項1〜4のいずれか1項に記載の画像整列方法。
- 前記撮像システム(6)がX線装置である、請求項1〜5のいずれか1項に記載の画像整列方法。
- 前記作業画像の作成時に前記器具(4)を一緒に撮像し且つ続いて該作業画像に基づき前記撮像システム(6)に対する前記器具(4)の位置を規定し、前記処理又は加工時に前記器具(4)と前記撮像システム(6)とを互いに整列させる、請求項1〜6のいずれか1項に記載の画像整列方法。
- 前記作業過程に関して前記対象物(O)における前記器具(4)の位置が規定され、該位置の調整が2つの並進方向に沿った並進のみによって行われる場合に、
該2つの並進方向を前記関連自由度に規定して記憶し、
前記視線方向(BR)を、当該並進方向に直交するように決める、請求項1〜7のいずれか1項に記載の画像整列方法。 - 前記作業過程に関して前記対象物(O)に対する前記器具(4)の侵入角度(EW)が規定され、該侵入角度(EW)の調整が回転軸(X,Y,Z)に関する前記器具(4)の回転のみによって行われる場合に、
該回転軸(X,Y,Z)を前記関連自由度に規定して記憶し、
前記視線方向(BR)を、当該回転軸(X,Y,Z)に沿うように決める、請求項1〜8のいずれか1項に記載の画像整列方法。 - 前記作業過程に関して前記対象物(O)に対する前記器具(4)の侵入深さ(ET)が規定され、該侵入深さ(ET)の調整が送り方向(X,Y,Z)に沿った前記器具(4)の並進のみによって行われる場合に、
該送り方向(X,Y,Z)を前記関連自由度に規定して記憶し、
前記視線方向(BR)を、当該送り方向(X,Y,Z)に直交するように決める、請求項1〜9のいずれか1項に記載の画像整列方法。 - 前記対象物(O)が患者であり、前記処理又は加工が3つの作業過程を含んだ脊柱手術であり、前記器具(4)が注射針、ドリル又はボルトであって長手軸(L)に沿って延びており、そして、第1の前記作業過程が前記患者に対する前記器具(4)の位置決めであり、第2の前記作業過程が前記器具(4)の侵入角度(EW)の設定であり、第3の前記作業過程が前記患者への前記器具(4)の侵入である場合に、
前記第1の作業過程に関して前記視線方向(BR)を前記長手軸(L)に沿うように決定し、
前記第2及び第3の作業過程に関して前記視線方向(BR)を前記長手軸(L)に直交するようにそれぞれ決定する、請求項1〜10のいずれか1項に記載の画像整列方法。 - 対象物(O)の処理又は加工用に構成され、前記対象物(O)の処理又は加工用の器具(4)を搭載するロボットアーム(8)を備えた、ロボットシステム(2)であって、
撮像システム(6)を備え、
請求項1〜11のいずれか1項に記載の画像整列方法を実行するように構成された制御ユニット(10)を備える、ロボットシステム(2)。 - 前記撮像システム(6)がもう一つのロボットアーム(8)に搭載されており、該撮像システム(6)が、互いの相対位置が既知であるように前記器具(4)とリンクする、請求項12に記載のロボットシステム(2)。
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DE102013214479B4 (de) * | 2013-07-24 | 2017-04-27 | Siemens Healthcare Gmbh | Verfahren zur Nachführung einer 2D-3D-Registrierung bei Bewegung und Rechenvorrichtung |
CN109952070B (zh) * | 2016-10-05 | 2022-02-01 | 纽文思公司 | 手术导航系统及相关方法 |
CN106974707B (zh) | 2017-04-21 | 2023-07-21 | 上海交通大学 | Ct引导经皮肺穿刺空间辅助定位装置 |
CN107330926A (zh) * | 2017-08-25 | 2017-11-07 | 上海嘉奥信息科技发展有限公司 | 一种术中导航系统中的非标记医学图像配准系统及方法 |
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