JP7041052B6 - 反復介入手順を計画及び実行するシステム並びに方法 - Google Patents
反復介入手順を計画及び実行するシステム並びに方法 Download PDFInfo
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Description
a)「含む」との用語は、所与の請求項に列挙される要素又は行為以外の要素又は行為の存在を排除しない。
b)要素に先行する「a」又は「an」との用語は、当該要素が複数存在することを排除しない。
c)請求項における任意の参照符号は、その範囲を限定しない。
d)幾つかの「手段」は、同じアイテム、ハードウェア若しくはソフトウェアによって実現される構造体又は機能によって表される。
e)特に明記されない限り、行為の特定の順番を必要とすることを意図していない。
Claims (14)
- 参照画像座標空間を有する被験者の領域の参照画像であって、少なくとも1つの標的領域と前記少なくとも1つの標的領域の各々におけるマーカとを含む、前記参照画像と、
ガイダンス画像座標空間を有する被験者の領域の一連のリアルタイムのガイダンス画像であって、前記参照画像とは異なる撮像モダリティから取得される、前記一連のリアルタイムのガイダンス画像と、
を記憶する、ストレージデバイスと、
前記少なくとも1つの標的領域を含む前記参照画像を、前記ガイダンス画像座標空間にある前記一連のリアルタイムのガイダンス画像にレジストレーションし、
前記ガイダンス画像、前記少なくとも1つの標的領域、及び介入手順が行われた部位を示す少なくとも1つの生検部位を含む、一連のリアルタイムのマッピングされたガイダンス画像を、前記参照画像座標空間にある前記参照画像にレジストレーションする、
レジストレーションデバイスと、
前記参照画像と前記ガイダンス画像座標空間にある前記ガイダンス画像とのレジストレーションに基づく前記マッピングされたガイダンス画像であって、各々が前記少なくとも1つの標的領域における少なくとも1つの前記マーカを含む、前記マッピングされたガイダンス画像と、
前記マッピングされたガイダンス画像と前記参照画像座標空間にある前記参照画像との前記レジストレーションに基づく前記少なくとも1つの生検部位、前記少なくとも1つの標的領域、及び前記参照画像を含む計画画像と、
を、ディスプレイデバイス上に生成する、画像生成デバイスと、
を含む、反復介入手順を計画及び実行する、システム。 - 前記ストレージデバイスは更に、
先の介入手順から生成される計画画像を含む前の計画画像であって、少なくとも1つの前の標的領域及び少なくとも1つの前の生検部位を含む、前記前の計画画像と、
現在の介入手順用の少なくとも1つの現在の標的領域を含む現在の参照画像と、
を記憶し、
前記レジストレーションデバイスは、
前記前の計画画像を、前記現在の参照画像の画像座標空間にレジストレーションし、
前記ガイダンス画像、前記少なくとも1つの現在の標的領域、前記少なくとも1つの前の生検部位及び前記現在の介入手順が行われた部位を示す少なくとも1つの現在の生検部位を含む、一連のリアルタイムのエンハンストガイダンス画像を、前記参照画像座標空間にある前記現在の参照画像にレジストレーションし、
前記画像生成デバイスは、前記ディスプレイデバイス上に、
前記前の計画画像からの前記少なくとも1つの前の生検部位と前記少なくとも1つの標的領域と前記現在の参照画像とを含むマッピングされた現在の参照画像と、
前記ガイダンス画像と前記少なくとも1つのマッピングされた現在の参照画像とのレジストレーションに基づく前記エンハンストガイダンス画像と、
前記マッピングされた現在の参照画像と、前記レジストレーションデバイスによるレジストレーションに基づく前記エンハンストガイダンス画像からの前記少なくとも1つの現在の生検部位とを含むエンハンスト計画画像と、
を生成する、請求項1に記載のシステム。 - 前記ストレージデバイスは、前記参照画像及び/又は前記マッピングされたガイダンス画像に関する追加情報を記憶し、前記追加情報は、前記少なくとも1つの標的領域のがんの疑いのレベルに関する情報、前記少なくとも1つの生検部位において得られた生検コアの組織病理学的所見、又は、前記少なくとも1つの標的領域若しくは前記少なくとも1つの生検部位の解剖学的部位情報を含む、請求項1に記載のシステム。
- 前記画像生成デバイスは、前記マッピングされたガイダンス画像及び/又は前記計画画像上に前記追加情報を示す画像を生成する、請求項3に記載のシステム。
- 前記参照画像及び/又は前記ガイダンス画像を前記ディスプレイデバイス上に表示する、請求項1に記載のシステム。
- 前記介入手順の実行中に、ユーザから受信される情報を記録及び記憶する、請求項1に記載のシステム。
- 前記介入手順の実行中に、撮像デバイスからの画像を記録及び記憶する、請求項6に記載のシステム。
- 前記参照画像は、磁気共鳴撮像画像であり、前記ガイダンス画像は、超音波画像である、請求項1に記載のシステム。
- 前記介入手順は、前立腺生検を含む、請求項1に記載のシステム。
- 1つ以上のプロセッサ、メモリ及びインターフェースを含むワークステーションであって、前記メモリは、
参照画像座標空間を有する被験者の領域の参照画像であって、少なくとも1つの標的領域と前記少なくとも1つの標的領域の各々におけるマーカとを含む、前記参照画像と、
ガイダンス画像座標空間を有する被験者の領域の一連のリアルタイムのガイダンス画像であって、前記参照画像とは異なる撮像モダリティから取得される、前記一連のリアルタイムのガイダンス画像と、を記憶するストレージデバイスを含む、前記ワークステーションと、
前記少なくとも1つの標的領域を含む前記参照画像を、前記ガイダンス画像座標空間にある前記一連のリアルタイムのガイダンス画像にレジストレーションし、
前記ガイダンス画像、前記少なくとも1つの標的領域、及び介入手順が行われた部位を示す少なくとも1つの生検部位を含む、一連のマッピングされたガイダンス画像を、前記参照画像座標空間にある前記参照画像にレジストレーションするレジストレーションモジュールと、
前記参照画像と前記ガイダンス画像座標空間にある前記ガイダンス画像とのレジストレーションに基づく前記マッピングされたガイダンス画像であって、各々が前記少なくとも1つの標的領域における少なくとも1つの前記マーカを含む、前記マッピングされたガイダンス画像と、
前記マッピングされたガイダンス画像と前記参照画像座標空間にある前記参照画像との前記レジストレーションに基づく前記少なくとも1つの生検部位、前記少なくとも1つの標的領域、及び前記参照画像を含む計画画像と、
を、ディスプレイデバイス上に生成する、画像生成モジュールと、
を含む、反復介入手順を計画及び実行する、システム。 - 前記ストレージデバイスは更に、
先の介入手順から生成される計画画像を含む前の計画画像であって、少なくとも1つの前の標的領域及び少なくとも1つの前の生検部位を含む、前記前の計画画像と、
現在の介入手順用の少なくとも1つの現在の標的領域を含む現在の参照画像と、
を記憶し、
前記レジストレーションモジュールは、
前記前の計画画像を、前記現在の参照画像の画像座標空間にレジストレーションし、
前記ガイダンス画像と、前記少なくとも1つの現在の標的領域と、前記少なくとも1つの前の生検部位と、前記現在の介入手順が行われた部位を示す少なくとも1つの現在の生検部位とを含む一連のエンハンストガイダンス画像を、前記参照画像座標空間にある前記現在の参照画像にレジストレーションし、
前記画像生成モジュールは、前記ディスプレイデバイス上に、
前記前の計画画像からの前記少なくとも1つの前の生検部位と、前記少なくとも1つの標的領域と、前記現在の参照画像とを含むマッピングされた現在の参照画像と、
前記ガイダンス画像と前記少なくとも1つのマッピングされた現在の参照画像とのレジストレーションに基づく前記エンハンストガイダンス画像と、
前記マッピングされた現在の参照画像と、前記レジストレーションモジュールによるレジストレーションに基づく前記エンハンストガイダンス画像からの前記少なくとも1つの現在の生検部位とを含むエンハンスト計画画像と、
を生成する、請求項10に記載のシステム。 - 前記ストレージデバイスは、前記参照画像及び/又は前記マッピングされたガイダンス画像に関する追加情報を記憶し、前記追加情報は、前記少なくとも1つの標的領域のがんの疑いのレベルに関する情報、前記少なくとも1つの生検部位において得られた生検コアの組織病理学的所見、又は、前記少なくとも1つの標的領域若しくは前記少なくとも1つの生検部位の解剖学的部位情報を含む、請求項10に記載のシステム。
- 前記介入手順の実行中に、ユーザから受信される情報、及び/又は、前記介入手順の実行中に取得される撮像デバイスからの画像を記録及び記憶する、請求項10に記載のシステム。
- 前記参照画像は、磁気共鳴撮像画像であり、前記ガイダンス画像は、超音波画像である、請求項11に記載のシステム。
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