JP6932135B2 - 腹腔鏡画像及び超音波画像を重畳するための計算装置 - Google Patents
腹腔鏡画像及び超音波画像を重畳するための計算装置 Download PDFInfo
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Description
Claims (15)
- 腹腔鏡画像及び超音波画像を重畳する計算装置であって、
前記計算装置は腹腔鏡の腹腔鏡画像を入力し、
前記計算装置は超音波装置の超音波画像を入力し、
前記計算装置は奥行感知撮像装置の奥行画像を入力し、該奥行画像は関心物体の表面を定めるデータを有し、
前記計算装置は前記奥行画像から奥行手掛かり情報を抽出し、
前記計算装置は抽出された前記奥行手掛かり情報を用いて前記腹腔鏡画像及び前記超音波画像を重畳することにより重畳画像を生成する、
計算装置。 - 前記計算装置が前記重畳画像において視覚化されるべき影の形状及び位置を前記抽出された奥行手掛かり情報に基づいて決定する、請求項1に記載の計算装置。
- 前記計算装置が前記重畳画像において視覚化されるべきオクルージョンの形状及び位置を前記抽出された奥行手掛かり情報に基づいて決定する、請求項1又は請求項2に記載の計算装置。
- 前記超音波画像は超音波面において前記関心物体の断面を視覚化し、
前記計算装置は前記重畳画像において視覚化されるべき前記関心物体内の孔の形状及び位置を計算する、
請求項1ないし3の何れか一項に記載の計算装置。 - 前記超音波画像は超音波面において前記関心物体の断面を視覚化し、
前記計算装置は前記関心物体を前記超音波面に沿って仮想的に切断すると共に、該仮想的に切断することを伴う前記関心物体を前記重畳画像に表示する、
請求項1ないし4の何れか一項に記載の計算装置。 - 前記仮想的に切断することを伴う重畳画像は前記関心物体の外側表面及び該関心物体の内部を示し、
前記計算装置は前記関心物体の前記内部を該関心物体の前記外側表面のカラーとは異なるカラーで仮想的に着色する、
請求項5に記載の計算装置。 - 前記計算装置は仮想光源の位置及び拡がりに関するデータを入力し、
前記計算装置は前記重畳画像における人工的影の形状及び位置を前記抽出された奥行手掛かり情報に基づいて且つ前記仮想光源の前記位置及び拡がりに基づいて決定し、
前記計算装置は前記超音波画像及び/又は前記腹腔鏡画像を前記人工的影が前記重畳画像において視覚化されるように適合させる、
請求項1ないし6の何れか一項に記載の計算装置。 - 前記奥行画像は前記腹腔鏡の空間的位置及び/又は向きに関するデータを有し、
前記奥行画像は前記超音波装置の空間的位置及び/又は向きに関するデータを有する、
請求項1ないし7の何れか一項に記載の計算装置。 - 前記計算装置は前記腹腔鏡の前記空間的位置及び向き並びに前記超音波装置の前記空間的位置及び向きを前記奥行画像のデータから抽出し、
前記計算装置は抽出された前記腹腔鏡の前記空間的位置及び向き並びに抽出された前記超音波装置の前記空間的位置及び向きを共通座標系に変換する、
請求項8に記載の計算装置。 - 前記計算装置は頭部装着型拡張現実装置の位置に関するデータを入力し、
前記計算装置は前記頭部装着型拡張現実装置の位置を前記共通座標系と位置合わせし、
前記計算装置は前記重畳画像を前記頭部装着型拡張現実装置に伝送する、
請求項9に記載の計算装置。 - 前記計算装置はユーザの眼の位置及び視線方向に関するデータを入力し、
前記計算装置はコンピュータ配置表示装置の空間的位置及び向きを入力し、
前記計算装置は捕捉された前記ユーザの眼の位置及び前記視線方向並びに捕捉された前記コンピュータ配置表示装置の空間的位置及び向きを前記共通座標系と位置合わせし、
前記計算装置は前記重畳画像を前記コンピュータ配置表示装置に伝送する、
請求項9に記載の計算装置。 - 前記計算装置は前記超音波画像を前記腹腔鏡の焦点距離及び画像歪に適合するように歪ませる、請求項1ないし11の何れか一項に記載の計算装置。
- 腹腔鏡画像及び超音波画像を重畳する方法であって、
腹腔鏡の腹腔鏡画像を供給するステップと、
超音波装置の超音波画像を供給するステップと、
奥行感知撮像装置の奥行画像を供給するステップであって、該奥行画像が関心物体の表面を定めるデータを有するステップと、
前記奥行画像から奥行手掛かり情報を抽出するステップと、
前記抽出された奥行手掛かり情報を用いて前記腹腔鏡画像及び前記超音波画像を重畳することにより重畳画像を生成するステップと、
を有する、方法。 - 請求項1ないし12の何れか一項に記載の計算装置に請求項13に記載の方法を実行させる一群の命令を有する、コンピュータプログラム。
- 請求項14に記載のコンピュータプログラムを記憶した、コンピュータ読取可能な媒体。
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EP16160609 | 2016-03-16 | ||
EP16160609.0 | 2016-03-16 | ||
PCT/EP2017/056045 WO2017157970A1 (en) | 2016-03-16 | 2017-03-15 | Calculation device for superimposing a laparoscopic image and an ultrasound image |
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US10262453B2 (en) * | 2017-03-24 | 2019-04-16 | Siemens Healthcare Gmbh | Virtual shadows for enhanced depth perception |
CN110010249B (zh) * | 2019-03-29 | 2021-04-27 | 北京航空航天大学 | 基于视频叠加的增强现实手术导航方法、系统及电子设备 |
CN110288653B (zh) * | 2019-07-15 | 2021-08-24 | 中国科学院深圳先进技术研究院 | 一种多角度超声图像融合方法、系统及电子设备 |
WO2022020351A1 (en) | 2020-07-21 | 2022-01-27 | Bard Access Systems, Inc. | System, method and apparatus for magnetic tracking of ultrasound probe and generation of 3d visualization thereof |
EP4188228A1 (en) * | 2020-08-10 | 2023-06-07 | Bard Access Systems, Inc. | System and method for generating vessel representations in mixed reality/virtual reality |
WO2023086332A1 (en) * | 2021-11-09 | 2023-05-19 | Genesis Medtech (USA) Inc. | An interactive augmented reality system for laparoscopic and video assisted surgeries |
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US8641621B2 (en) * | 2009-02-17 | 2014-02-04 | Inneroptic Technology, Inc. | Systems, methods, apparatuses, and computer-readable media for image management in image-guided medical procedures |
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US10426345B2 (en) * | 2013-04-04 | 2019-10-01 | Children's National Medical Center | System for generating composite images for endoscopic surgery of moving and deformable anatomy |
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US9547940B1 (en) * | 2014-09-12 | 2017-01-17 | University Of South Florida | Systems and methods for providing augmented reality in minimally invasive surgery |
CN104856720B (zh) * | 2015-05-07 | 2017-08-08 | 东北电力大学 | 一种基于rgb‑d传感器的机器人辅助超声扫描系统 |
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WO2017157970A1 (en) | 2017-09-21 |
DE112017001315T5 (de) | 2018-11-22 |
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