JP7112471B2 - ナビゲートされるロボット外科手術のための変動する不透明性を有する拡張現実ヘッドセット - Google Patents
ナビゲートされるロボット外科手術のための変動する不透明性を有する拡張現実ヘッドセット Download PDFInfo
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- JP7112471B2 JP7112471B2 JP2020204490A JP2020204490A JP7112471B2 JP 7112471 B2 JP7112471 B2 JP 7112471B2 JP 2020204490 A JP2020204490 A JP 2020204490A JP 2020204490 A JP2020204490 A JP 2020204490A JP 7112471 B2 JP7112471 B2 JP 7112471B2
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Description
例示的なARヘッドセット構成要素ならびに外科手術ロボットおよび他の機器への統合
図13は、本開示のいくつかの実施形態に従って構成されたARヘッドセット920を例示している。ARヘッドセットは、ARヘッドセットを着用者の頭に固定するように構成されたヘッドバンド1306を含み、表示画面1302と、ヘッドバンド1306によって支持された電子部品エンクロージャ1304と、を含む。表示画面1302は、シースルーLCDディスプレイデバイス、またはディスプレイデバイスによって着用者の目に向けて投影された画像を反射する半反射レンズであり得る。
ARヘッドセットを介した例示的な着用者のビュー
図15~図25は、本開示のいくつかの実施形態に従う、ARヘッドセット920の表示画面1450を通して着用者に提供される例示的なビューを例示している。
拡張ナビゲーション動作
ARヘッドセットのユーザインターフェースは、現在のナビゲーション技術の制限に対処する情報特徴の無菌ソフトウェア制御および卓越した表示をさらに可能にする。これに加えて、以下に記載されるように、着用者が手および手術器具を使用してナビゲーション要素と仮想的にインタラクトできるようにする操作機能性が提供される。
ARヘッドセットを使用した手術道具のナビゲーション動作
次に、図26~図31の例示的な実施形態を参照して、医療処置中に手術道具のためにARヘッドセットを介してナビゲーション支援を提供するための外科手術システム2によって実行され得る様々な動作が記載される。
ARヘッドセット(単数または複数)を使用した医療デバイスのクロスプラットフォーム統合
様々なさらなる実施形態は、1つ以上のARヘッドセットを使用して医療デバイスのクロスプラットフォーム統合を提供することを対象とする。これらの動作により、医療従事者が、所望の患者画像をキャプチャするために撮像システムをナビゲートするときなど、1つ以上の医療デバイスおよび手術室との特定のアクションを実行するためにARヘッドセットを取り外す必要性を感じることが回避され得る。患者または画像システムインターフェースとインタラクトするためのARヘッドセットのそのような断続的な取り外しは、無菌性の問題と、従事者がARヘッドセットを再較正するための動作を実行している間などの、外科的処置段階間の大きな望ましくない中断と、を引き起こす可能性がある。
不透明フィルタを有するARヘッドセット
図32は、ARヘッドセット920の前部(例えば、ヘッドバンド)を横方向にわたり、かつ前部から下向きに延在する湾曲レンズ3210を有するARヘッドセット920を例示している。図13に示されるARヘッドセット920とは対照的に、図32のARヘッドセット920は、本開示のいくつかの実施形態に従う、湾曲レンズ3210の表面上の横方向に延在するバンドとして構成された不透明フィルタ3200をさらに含む。
2)計画された道具と現在追跡されている道具との対比と、外科手術インプラント場所と、のオーバーレイ、
3)術前画像のギャラリー、
4)顕微鏡および他の同様のシステム、またはリモートビデオ会議からのビデオフィード、および、
5)オプションならびに構成の設定およびボタン。
2)浮遊する患者の生体構造に関連する手術器具のリアルタイム追跡、
3)指示およびガイダンスを有する患者の生体構造の拡張オーバーレイ、および、
4)手術器具の拡張オーバーレイ。
不透明フィルタおよび/またはディスプレイの輝度の動的制御
上記で説明したように、不透明フィルタの不透明性は、現実世界シーンからの光がユーザの目へと通過する量を制御する。不透明フィルタの高不透明性構成は、現実世界シーンの薄暗いビュー上にオーバーレイされた高コントラストの仮想画像をもたらす。不透明フィルタの低不透明性構成は、現実世界シーンのよりクリアなビュー上にオーバーレイされる、よりかすかな仮想画像をもたらすことができる。外科手術の設定では、手術の現実世界ビューも、仮想的に表示される医療イメージの鮮明さも、損なわれるべきでない。これに加えて、手術室が大抵、非常に明るいライト(つまり、患者に向けられた外科手術灯)、ならびに照明が不十分な領域の両方を内包することにより、が含まれているため、一定の不透明性では異なる照明条件に見合うことができない環境がもたらされる。
さらなる規定および実施形態:
本発明の概念の様々な実施形態の上記の説明において、本明細書において使用される用語は、特定の実施形態を説明することのみを目的とし、本発明の概念を限定することを意図しないことを理解されたい。別様に定義されない限り、本明細書において使用されるすべての用語(技術用語および科学用語を含む)は、本発明の概念が属する技術の当業者によって一般に理解されるのと同じ意味を有する。一般的に使用される辞書に定義されるような用語は、本明細書および関連する技術分野の文脈におけるそれらの意味に矛盾しない意味を有するものとして解釈されるべきであり、本明細書で明確にそのように定義された理想化された、または過度に形式的な意味では解釈されないことをさらに理解されよう。
Claims (16)
- 外科手術システムであって、
外科的処置中にユーザが着用するように構成された拡張現実(AR)ヘッドセットであって、
シースルー表示画面であって、AR画像を表示するように、かつ現実世界シーンの少なくとも一部分が前記ユーザによる視認のために前記シースルー表示画面を通過できるように構成された、シースルー表示画面と、
前記ユーザが前記シースルー表示画面を視認するときに、前記ユーザの目のうちの少なくとも1つと前記現実世界シーンとの間に位置決めされた不透明フィルタであって、前記不透明フィルタが、前記現実世界シーンからの光に対する不透明性を提供するように構成されている、不透明フィルタと、を含む、ARヘッドセットと、
解剖学的構造に対する前記外科的処置中に前記ユーザにガイダンスを提供するナビゲーション情報をナビゲーションコントローラから受信するために、前記ナビゲーションコントローラと通信するように構成され、かつ前記シースルー表示画面上での表示のために前記ナビゲーション情報に基づいて前記AR画像を生成するように構成されたARヘッドセットコントローラと、を含み、
前記不透明フィルタが、少なくとも、(a)前記現実世界シーンが著しく暗くなり、前記AR画像が高コントラストおよび視認の明瞭さを有してVR表示される高不透明性の上部レンズ領域、(b)前記上部レンズ領域より不透明性が低くAR表示が提供される中間レンズ領域、および、(c)前記現実世界シーンの100%の遮るもののないビューである下部領域、の3つを含む異なる不透明性ビューの間において、前記不透明性を変動させる外科手術システム。 - 前記シースルー表示画面が、前記ARヘッドセットの前部の横方向にわたり、かつ前記前部から下向きに延在する湾曲レンズを含み、前記不透明フィルタが、前記湾曲レンズの表面上にある、請求項1に記載の外科手術システム。
- 前記不透明フィルタが、少なくとも2つの横方向に延在するバンドで構成されており、前記少なくとも2つの横方向に延在するバンドのうちの上側のものが、前記少なくとも2つの横方向に延在するバンドのうちの下側のものよりも低い光透過率を有する、請求項1に記載の外科手術システム。
- 前記不透明フィルタが、横方向に延在するバンドとして構成されており、
前記ARヘッドセットコントローラが、前記不透明フィルタの前記横方向に延在するバンドと整列された前記シースルー表示画面の領域に、患者の生体構造の2Dの体軸ビュー画像、矢状ビュー画像、および/または冠状ビュー画像、計画されたおよび/または現在追跡されている手術道具のポーズ、外科的インプラント場所のグラフィックモデル、医療器具からのビデオ、ならびに医療機器を制御する動作をトリガするユーザが選択可能なメニュー項目のうちの少なくとも1つを表示するように、かつ前記不透明フィルタの前記横方向に延在するバンドと整列されていない前記シースルー表示画面の別の領域に、前記解剖学的構造および手術計画情報の3Dグラフィックモデル、手術器具の3Dグラフィックモデル、前記解剖学的構造に対する手術器具のリアルタイムで測定されたポーズを追跡するために修正された、前記解剖学的構造のグラフィックモデルに対するポーズで表示される前記手術器具のアニメーション化された3Dグラフィックモデル、ならびに前記解剖学的構造のグラフィックモデルおよび前記解剖学的構造に対する前記外科的処置中に前記ユーザに視覚的ガイダンスを提供する、前記ナビゲーションコントローラからの前記ナビゲーション情報のうちの少なくとも1つを表示するように構成されている、請求項1に記載の外科手術システム。 - 前記ARヘッドセットコントローラからの信号伝達に応答して前記AR画像の光を投影するように構成されたARエミッタをさらに含み、
前記不透明フィルタが、横方向に延在するバンドとして構成されており、
前記シースルー表示画面が、前記ARエミッタから投影された前記AR画像の前記光と前記現実世界シーンからの光とを、前記ユーザによって視認可能な合成オーバーレイ画像へと合成するように構成されたコンバイナを含み、
前記不透明フィルタの前記横方向に延在するバンドが、前記コンバイナの表面上にある、請求項1に記載の外科手術システム。 - 前記ARヘッドセットコントローラからの信号伝達に応答して前記AR画像の光を投影するように構成されたARエミッタをさらに含み、
前記シースルー表示画面が、前記ARエミッタから投影された前記AR画像の光と前記現実世界シーンからの光とを、前記ユーザによって視認可能な合成画像へと合成するように構成されたコンバイナを含み、
前記不透明フィルタが、前記コンバイナの表面上で延在する不透明性勾配を含む、請求項1に記載の外科手術システム。 - 複数のタイプのAR画像の各々について、前記ARヘッドセットコントローラが、前記タイプのAR画像を表示するための前記シースルー表示画面の複数の異なる領域の中から、前記タイプのAR画像の特性と、前記シースルー表示画面の前記異なる領域と整列された前記不透明フィルタの領域の不透明性のレベルと、に基づいて選択するように構成されている、請求項1に記載の外科手術システム。
- 前記現実世界シーンをキャプチャするビデオフレームを出力するように構成されたカメラをさらに含み、
前記ARヘッドセットコントローラが、前記ビデオフレーム内の定義されたエリアの輝度および/または色を決定するように、かつ前記ビデオフレーム内の前記定義されたエリアの前記決定された輝度および/または色に基づいて、前記不透明フィルタの少なくとも1つのエリアの不透明性を制御するように構成されている、請求項1に記載の外科手術システム。 - 前記現実世界シーンをキャプチャするビデオフレームを出力するように構成されたカメラをさらに含み、
前記ARヘッドセットコントローラが、前記ビデオフレーム内の定義されたエリアの輝度および/または色を決定するように、かつ前記ビデオフレーム内の前記定義されたエリアの前記決定された輝度および/または色に基づいて、前記シースルー表示画面上に表示される前記AR画像の輝度および/または色を制御するように構成されている、請求項1に記載の外科手術システム。 - 前記ARヘッドセットコントローラが、前記ARヘッドセットのポーズを決定するように、かつ前記ARヘッドセットの前記決定されたポーズに基づいて前記不透明フィルタの少なくとも1つのエリアの不透明性を制御するように構成されている、請求項1に記載の外科手術システム。
- 前記ARヘッドセットコントローラが、前記解剖学的構造を内包する手術部位に対する前記ARヘッドセットの前記ポーズを決定するように、かつ前記手術部位に対する前記ARヘッドセットの前記決定されたポーズに基づいて、前記不透明フィルタの少なくとも1つのエリアの不透明性を制御するように構成されている、請求項10に記載の外科手術システム。
- 前記現実世界シーンをキャプチャするビデオフレームを出力するように構成されたカメラをさらに含み、
前記ARヘッドセットコントローラが、前記ビデオフレーム内の物体を識別し、前記ビデオフレーム内の前記識別された物体の輝度および/または色を決定し、前記ビデオフレーム内の前記識別された物体に対応する現実世界物体に対する前記ARヘッドセットのポーズを決定するように、かつ前記ビデオフレーム内の前記識別された物体の前記決定された輝度および/または色に基づいて、および前記決定されたポーズに基づいて、前記不透明フィルタの少なくとも1つのエリアの不透明性を制御するように構成されている、請求項1に記載の外科手術システム。 - 前記現実世界シーンをキャプチャするビデオフレームを出力するように構成されたカメラをさらに含み、
前記ARヘッドセットコントローラが、前記ビデオフレーム内の物体を識別し、前記ビデオフレーム内の前記識別された物体の輝度および/または色を決定し、前記ビデオフレーム内の前記識別された物体に対応する現実世界物体に対する前記ARヘッドセットのポーズを決定するように、かつ前記ビデオフレーム内の前記識別された物体の前記決定された輝度および/または色に基づいて、および前記決定されたポーズに基づいて、前記シースルー表示画面上に表示される前記AR画像の輝度および/または色を制御するように構成されている、請求項1に記載の外科手術システム。 - 前記不透明フィルタが、グリッドに配置され、かつピクセル不透明性を光透過率に調整するように電気的に制御可能な複数のピクセルを含み、
前記ARヘッドセットコントローラが、前記シースルー表示画面上に表示されるAR画像の形状の少なくとも一部分と整列されていること、または前記一部分からの距離のオフセットに基づいて前記グリッド内から選択された少なくともいくつかのピクセルに増加された不透明性を提供するために、前記不透明フィルタを電気的に制御するように構成されている、請求項1に記載の外科手術システム。 - 前記ARヘッドセットコントローラが、前記シースルー表示画面上に表示されるAR画像の前記形状の周囲に基づいて定義される形状を形成するように前記グリッド内から選択された少なくともいくつかのピクセルに増加された不透明性を提供するために、前記不透明フィルタを電気的に制御するように構成されている、請求項14に記載の外科手術システム。
- 前記ARヘッドセットコントローラが、前記シースルー表示画面上に表示される前記AR画像の前記形状の少なくとも一部分と整列されることに基づいて、前記グリッド内から選択されたピクセルの領域に相対的に高い不透明性を提供するために、前記不透明フィルタを電気的に制御するように、かつ前記シースルー表示画面上に表示される前記AR画像の前記形状の外側の周辺にあることに基づいて、前記グリッド内から選択されたピクセルの別の領域に不透明性の漸次遷移を提供するように構成されている、請求項14に記載の外科手術システム。
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