JP7416756B2 - 外科用可視化プラットフォーム - Google Patents
外科用可視化プラットフォーム Download PDFInfo
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- JP7416756B2 JP7416756B2 JP2021502531A JP2021502531A JP7416756B2 JP 7416756 B2 JP7416756 B2 JP 7416756B2 JP 2021502531 A JP2021502531 A JP 2021502531A JP 2021502531 A JP2021502531 A JP 2021502531A JP 7416756 B2 JP7416756 B2 JP 7416756B2
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- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
- A61B5/0071—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence by measuring fluorescence emission
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- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
- A61B5/0082—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence adapted for particular medical purposes
- A61B5/0084—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence adapted for particular medical purposes for introduction into the body, e.g. by catheters
- A61B5/0086—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence adapted for particular medical purposes for introduction into the body, e.g. by catheters using infrared radiation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- A61B5/0093—Detecting, measuring or recording by applying one single type of energy and measuring its conversion into another type of energy
- A61B5/0095—Detecting, measuring or recording by applying one single type of energy and measuring its conversion into another type of energy by applying light and detecting acoustic waves, i.e. photoacoustic measurements
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
- A61B5/7235—Details of waveform analysis
- A61B5/7264—Classification of physiological signals or data, e.g. using neural networks, statistical classifiers, expert systems or fuzzy systems
- A61B5/7267—Classification of physiological signals or data, e.g. using neural networks, statistical classifiers, expert systems or fuzzy systems involving training the classification device
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B5/742—Details of notification to user or communication with user or patient ; user input means using visual displays
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- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J3/00—Spectrometry; Spectrophotometry; Monochromators; Measuring colours
- G01J3/02—Details
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- G01J3/00—Spectrometry; Spectrophotometry; Monochromators; Measuring colours
- G01J3/02—Details
- G01J3/10—Arrangements of light sources specially adapted for spectrometry or colorimetry
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- G01J2003/106—Plural sources the two sources being alternating or selectable, e.g. in two ranges or line:continuum
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- G01J3/00—Spectrometry; Spectrophotometry; Monochromators; Measuring colours
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- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
- G01N21/31—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry
- G01N2021/3129—Determining multicomponents by multiwavelength light
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- G—PHYSICS
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- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/47—Scattering, i.e. diffuse reflection
- G01N21/4795—Scattering, i.e. diffuse reflection spatially resolved investigating of object in scattering medium
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- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
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Description
本出願は、米国特許法第119条(e)の下で、「SURGICAL VISUALIZATION PLATFORM」と題する2018年9月11日出願の米国特許仮出願第16/128,179号に対する優先権を主張するものであり、「SURGICAL VISUALIZATION PLATFORM」と題する2018年9月11日出願の米国特許仮出願第16/128,191号を本明細書に組み込む。両出願とも、米国特許法第119条(e)の下で、その開示全体が参照により本明細書に組み込まれる、「DIGITAL SURGERY IMAGING / VISUALIZATION SYSTEM」と題する2018年7月16日出願の米国特許仮出願第62/698,625号に対する優先権を主張する。
■「SURGICAL VISUALIZATION CONTROLS」と題する米国特許出願第16/128,191号、代理人整理番号END8605USNP1/180230-1、
■「CONTROLLING AN EMITTER ASSEMBLY PULSE SEQUENCE」と題する米国特許出願第16/128,180号、代理人整理番号END8606USNP/180231、
■「COMBINATION EMITTER AND CAMERA ASSEMBLY」と題する米国特許出願第16/128,198号、代理人整理番号END8606USNP1/180231-1、
■「SINGULAR EMR SOURCE WITH DUAL OUTPUT EMITTER ASSEMBLY」と題する米国特許出願第16/128,207号、代理人整理番号END8606USNP2/180231-2、
■「SURGICAL VISUALIZATION WITH PROXIMITY TRACKING FEATURES」と題する米国特許出願第16/128,176号、代理人整理番号END8607USNP/180232、
■「SURGICAL VISUALIZATION OF MULTIPLE TARGETS」と題する米国特許出願第16/128,187号、代理人整理番号END8607USNP1/180232-1、
■「VISUALIZATION OF SURGICAL DEVICES」と題する米国特許出願第16/128,192号、代理人整理番号END8607USNP2/180232-2、
■「OPERATIVE COMMUNICATION OF LIGHT」と題する米国特許出願第16/128,163号、代理人整理番号END8608USNP/180233、
■「ROBOTIC LIGHT PROJECTION TOOLS」と題する米国特許出願第16/128,197号、代理人整理番号END8609USNP/180234、
■「SURGICAL VISUALIZATION FEEDBACK SYSTEM」と題する米国特許出願第16/128,164号、代理人整理番号END8610USNP/180235、
■「SURGICAL VISUALIZATION AND MONITORING」と題する米国特許出願第16/128,193号、代理人整理番号END8611USNP/180236、
■「INTEGRATION OF IMAGING DATA」と題する米国特許出願第16/128,195号、代理人整理番号END8612USNP/180237、
■「ROBOTICALLY-ASSISTED SURGICAL SUTURING SYSTEMS」と題する米国特許出願第16/128,170号、代理人整理番号END8613USNP/180238、
■「SAFETY LOGIC FOR SURGICAL SUTURING SYSTEMS」と題する米国特許出願第16/128,183号、代理人整理番号END8613USNP1/180238-1、
■「ROBOTIC SYSTEM WITH SEPARATE PHOTOACOUSTIC RECEIVER」と題する米国特許出願第16/128,172号、代理人整理番号END8614USNP/180239、及び
■「FORCE SENSOR THROUGH STRUCTURED LIGHT DEFLECTION」と題する米国特許出願第16/128,185号、代理人整理番号END8615USNP/180240。
・「DRIVE ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS」と題する米国特許出願第15/940,627号、
・「AUTOMATIC TOOL ADJUSTMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS」と題する米国特許出願第15/940,676号、
・「SENSING ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS」と題する米国特許出願第15/940,711号、及び
・その全内容が参照により本明細書に組み込まれる、「CHARACTERIZATION OF TISSUE IRREGULARITIES THROUGH THE USE OF MONO-CHROMATIC LIGHT REFRACTIVITY」と題する2018年3月29日出願の米国特許出願第15/940,722号。
dA=dw-dt。
dA=dw-dt。
式中、
dA=重要構造1101の深さであり、
dw=エミッタ1106から重要構造1101までの距離(図19のd)であり、
dt=エミッタ1106(外科用装置1102の遠位端上)から覆い隠している組織1103の表面1105までの距離である。
本明細書に開示される様々な外科用可視化システムは、以下の臨床用途のうちの1つ以上で使用され得る。以下の臨床用途は非網羅的であり、本明細書に開示される様々な外科用可視化システムのうちの1つ以上に対する単に例示的な用途である。
実施例1-構造光パターンを解剖学的構造の表面上に放射するように構成されている構造光エミッタを備える、外科用可視化システム。外科用可視化システムは、解剖学的構造を透過し、解剖学的構造の表面の下に位置する埋め込まれた構造に到達することが可能な複数の波長のスペクトル光を放射するように構成されているスペクトル光エミッタを更に備える。外科用可視化システムは、反射された構造光パターン、反射されたスペクトル光、及び反射された可視光を検出するように構成されている画像センサを更に備える。外科用可視化システムは、画像センサと信号通信する制御回路を更に備える。制御回路は、画像センサによって検出された反射された構造光パターンから解剖学的構造の三次元デジタル表示を構築し、画像センサによって検出された反射されたスペクトル光から埋め込まれた構造を検出し、埋め込まれた構造を解剖学的構造の三次元デジタル表示と統合し、かつ、構造光エミッタから解剖学的構造までの少なくとも1つの距離を決定するように構成されている。
(1) 外科用可視化システムであって、
構造光パターンを解剖学的構造の表面上に放射するように構成されている、構造光エミッタと、
前記解剖学的構造を透過し、前記解剖学的構造の前記表面の下に位置する埋め込まれた構造に到達することが可能な複数の波長のスペクトル光を放射するように構成されている、スペクトル光エミッタと、
反射された構造光パターン、反射されたスペクトル光、及び反射された可視光を検出するように構成されている、画像センサと、
前記画像センサと信号通信する制御回路であって、
前記画像センサによって検出された前記反射された構造光パターンから前記解剖学的構造の三次元デジタル表示を構築し、
前記画像センサによって検出された前記反射されたスペクトル光から前記埋め込まれた構造を検出し、
前記埋め込まれた構造を前記解剖学的構造の前記三次元デジタル表示と統合し、かつ、
前記構造光エミッタから前記解剖学的構造までの少なくとも1つの距離を決定するように構成されている、制御回路と、を備える、外科用可視化システム。
(2) 前記埋め込まれた構造と、前記解剖学的構造の前記三次元デジタル表示に基づく前記解剖学的構造の三次元レンダリングとを選択的に描写するように構成されているディスプレイを更に備える、実施態様1に記載の外科用可視化システム。
(3) 前記ディスプレイが、前記構造光エミッタと前記解剖学的構造との間の距離が最小距離まで短縮したときに警告を選択的に提供するように構成されている、実施態様2に記載の外科用可視化システム。
(4) 前記スペクトル光エミッタが、前記解剖学的構造を透過し、前記埋め込まれた構造に到達することが可能な複数の赤外線波長のスペクトル光を放射するように構成されている、実施態様1に記載の外科用可視化システム。
(5) 前記スペクトル光エミッタが第1のロボットアーム上に支持され、前記構造光エミッタが第2のロボットアーム上に支持されている、実施態様1に記載の外科用可視化システム。
(7) 前記構造光エミッタから前記解剖学的構造までの前記少なくとも1つの距離が、前記構造光エミッタから前記埋め込まれた構造を覆い隠している前記解剖学的構造の一部分までの距離を含む、実施態様1に記載の外科用可視化システム。
(8) 外科用可視化システムであって、
複数の波長を放射するように構成されているスペクトル撮像システムであって、隠れた構造を識別するように構成されている、スペクトル撮像システムと、
構造光パターンを可視組織表面上に放射するように構成されている構造光システムであって、前記可視組織の三次元デジタル表示を生成するように更に構成されている、構造光システムと、
可視光、前記複数の波長、及び前記構造光パターンを検出するように構成されている、センサシステムと、
前記可視組織表面の三次元レンダリング上の前記隠れた構造を選択的に描写するように構成されている、撮像システムと、を備える、外科用可視化システム。
(9) 前記構造光システムから前記可視組織表面までの少なくとも1つの距離を決定するように構成されている制御回路を更に備える、実施態様8に記載の外科用可視化システム。
(10) 前記可視組織表面の下の前記隠れた構造の深さを決定するように構成されている制御回路を更に備える、実施態様8に記載の外科用可視化システム。
解剖学的構造を透過し、前記解剖学的構造の表面の下に位置する埋め込まれた構造に到達することが可能な複数の波長のスペクトル光を放射するように構成されている、線源と、
前記埋め込まれた構造によって反射された前記複数の波長を検出するように構成されている、受信器と、
前記線源からの放射された信号と前記受信器によって検出された信号との間の遅延に基づいて、前記線源から前記埋め込まれた構造までの距離を決定するように構成されている飛行時間モジュールを含む、制御回路と、を備える、外科用可視化システム。
(12) 前記制御回路が、前記距離を撮像システムに通信するように更に構成されている、実施態様11に記載の外科用可視化システム。
(13) 前記制御回路が、前記埋め込まれた構造に対する外科用装置の近接度を決定し、前記近接度が最小量まで短縮したときに警告を提供するように更に構成されている、実施態様11に記載の外科用可視化システム。
(14) 前記線源が、前記解剖学的構造を透過し、前記解剖学的構造の前記表面の下に位置する埋め込まれた構造に到達することが可能な複数の赤外線波長のスペクトル光を放射するように構成されている、実施態様11に記載の外科用可視化システム。
(15) 撮像システムを更に備え、前記撮像システムが、
ビデオモニタと、
複数の画像間で前記ビデオモニタ上の表示を切り替えるように構成されている、制御部と、を備える、実施態様11に記載の外科用可視化システム。
(17) 前記制御回路が、
前記構造光パターンに基づいて、前記解剖学的構造の表面輪郭を認識し、
前記解剖学的構造の三次元デジタル表示を構築し、かつ、
前記三次元デジタル表示を撮像システムに伝達するように更に構成されている、実施態様16に記載の外科用可視化システム。
(18) 前記解剖学的構造の前記三次元デジタル表示及び前記埋め込まれた構造を選択的に描写するように構成されている、ディスプレイを備える前記撮像システムを更に備える、実施態様17に記載の外科用可視化システム。
(19) 前記制御回路が、前記線源から前記解剖学的構造の前記表面までの少なくとも1つの距離を決定するように更に構成されている、実施態様11に記載の外科用可視化システム。
(20) 前記制御回路が、前記解剖学的構造内の前記埋め込まれた構造の深さを決定するように更に構成されている、実施態様19に記載の外科用可視化システム。
スペクトル光エミッタ、構造光エミッタ、及び画像センサに通信可能に連結されている、制御回路と、
前記制御回路に通信可能に連結されているメモリであって、前記メモリは、実行されると、前記制御回路に、
前記スペクトル光エミッタを制御させて、組織を透過し、前記組織内に埋め込まれた構造に到達するのに好適な複数の波長の光を放射させ、
構造光源を制御させて、構造光パターンを前記組織の表面上に放射させ、
前記画像センサを制御させて、前記構造から反射された複数のスペクトル光波長と前記組織の前記表面上の前記構造光パターンを検出させ、
反射された前記構造光パターンに基づいて、前記組織の前記表面の三次元デジタル表示を計算させ、かつ、
反射された前記スペクトル光波長に基づいて、前記構造の位置を特定させる、命令を記憶する、メモリと、を備える、外科用可視化システム。
(22) 前記メモリが、
計算された前記三次元デジタル表示に基づいて前記組織の前記表面の三次元レンダリングを生成し、かつ、
前記組織の前記表面の前記三次元レンダリングをディスプレイに提供するための、前記制御回路によって実行可能な命令を記憶する、実施態様1に記載の外科用可視化システム。
(23) 前記メモリが、検出された前記構造光パターンによって前記構造光源から前記組織の前記表面までの距離を決定するための、前記制御回路によって実行可能な命令を記憶する、実施態様2に記載の外科用可視化システム。
(24) 前記メモリが、選択的な複数の赤外線波によって前記構造を検出するための、前記制御回路によって実行可能な命令を記憶する、実施態様2に記載の外科用可視化システム。
(25) 前記メモリが、前記選択的な複数の赤外線波の放射と受信との間の遅延に基づいて、前記スペクトル光エミッタから前記構造間の距離を決定するための、前記制御回路によって実行可能な命令を記憶する、実施態様4に記載の外科用可視化システム。
(27) 前記メモリが、外科用装置から前記構造までの距離を三角測量するための、前記制御回路によって実行可能な命令を記憶する、実施態様6に記載の外科用可視化システム。
(28) 前記メモリが、前記ディスプレイ上に前記外科用装置から前記構造までの前記距離を示すための、前記制御回路によって実行可能な命令を記憶する、実施態様7に記載の外科用可視化システム。
(29) 前記メモリが、前記外科用装置から前記構造までの前記距離が最小閾値距離未満まで短縮したときに警告を提供するための、前記制御回路によって実行可能な命令を記憶する、実施態様7に記載の外科用可視化システム。
(30) 前記メモリが、前記外科用装置を制御しているロボットシステムに近接データを通信するための、前記制御回路によって実行可能な命令を記憶する、実施態様7に記載の外科用可視化システム。
構造光パターン及び複数の波長のスペクトル光の反射率を検出するように構成されている、画像センサと、
前記画像センサに通信可能に連結されている、制御回路と、
前記制御回路に通信可能に連結されているメモリであって、前記メモリは、実行されると、前記画像センサに、
前記スペクトル光の反射率を検出させ、
表面上の構造光パターンを検出させ、
検出された前記構造光パターンに基づいて、前記表面の三次元デジタル表示を計算させ、かつ、
前記複数の波長の前記スペクトル光の反射率に基づいて、前記表面の下に位置付けられた構造の位置を特定させる、命令を記憶する、メモリと、を備える、外科用可視化システム。
(32) 前記メモリが、
前記構造光パターンから前記表面の三次元レンダリングを生成し、かつ、
前記表面の前記三次元レンダリングをビデオモニタに提供するための、前記制御回路によって実行可能な命令を記憶する、実施態様11に記載の外科用可視化システム。
(33) 前記制御回路が、前記スペクトル光の放射と受信との間の遅延に基づいて、外科用ツールから前記構造までの距離を表す信号を出力するように構成された飛行時間モジュールを更に含む、実施態様12に記載の外科用可視化システム。
(34) 前記制御回路が、前記画像センサによって検出された前記構造光パターンに基づいて、外科用ツールから前記表面までの距離を表す信号を出力するように構成された第2の処理モジュールを更に含む、実施態様11に記載の外科用可視化システム。
(35) モニタを含む撮像システムを更に備え、前記制御回路が、前記表面の前記三次元デジタル表示及び前記構造の前記位置を受信するように構成された画像オーバーレイコントローラを更に含み、前記画像オーバーレイコントローラが、前記表面の前記三次元デジタル表示に重なった前記構造の拡張画像を表す信号を送信するように構成されている、実施態様14に記載の外科用可視化システム。
(37) ロボット制御された外科用ツールを更に備え、前記メモリが、前記ロボット制御された外科用ツールから前記構造までの距離を決定するための、前記制御回路によって実行可能な命令を記憶する、実施態様11に記載の外科用可視化システム。
(38) 前記制御回路は、前記ロボット制御された外科用ツールが前記構造の周囲に画定された位置範囲内を移動したときに警告を提供するように構成された通信モジュールを更に含む、実施態様17に記載の外科用可視化システム。
(39) コンピュータ可読命令を記憶する非一時的コンピュータ可読媒体であって、前記コンピュータ可読命令は、実行されると、機械に、
埋め込まれた構造から反射されたスペクトル波長に基づいて前記埋め込まれた構造の位置をリアルタイムで検出させ、
前記埋め込まれた構造の前記位置を表す第1のビデオ信号をリアルタイムで出力させ、
表面上の構造光パターンをリアルタイムで検出させ、
検出された前記構造光パターンに基づいて、前記表面の三次元デジタル表示をリアルタイムで生成させ、
前記表面の前記三次元デジタル表示を表す第2のビデオ信号をリアルタイムで出力させ、
前記第1のビデオ信号及び前記第2のビデオ信号を統合画像にリアルタイムで統合させ、かつ、
前記統合画像をビデオモニタにリアルタイムで提供させる、コンピュータ可読命令を記憶する非一時的コンピュータ可読媒体。
(40) 前記コンピュータ可読命令は、実行されると、前記機械に、外科用ツールから前記埋め込まれた構造に重なった前記表面の一部分までの少なくとも1つの距離を決定させる、実施態様39に記載のコンピュータ可読命令を記憶する非一時的コンピュータ可読媒体。
Claims (7)
- 外科用可視化システムであって、
構造化光パターンを解剖学的構造の表面上に放射するように構成されている、構造化光エミッタと、
前記解剖学的構造を透過し、前記解剖学的構造の前記表面の下に位置する埋没構造に到達することが可能な複数の波長のスペクトル光を放射するように構成されている、スペクトル光エミッタと、
反射された構造化光パターン、反射されたスペクトル光、及び反射された可視光を検出するように構成されている、画像センサと、
前記画像センサと信号通信する制御回路であって、
前記画像センサによって検出された前記反射された構造化光パターンから前記解剖学的構造の三次元デジタル表示を構築し、
前記画像センサによって検出された前記反射されたスペクトル光から前記埋没構造を検出し、
前記埋没構造を前記解剖学的構造の前記三次元デジタル表示と統合し、かつ、
前記構造化光エミッタから前記構造化光エミッタと前記埋没構造を結んだ直線上に存在する前記解剖学的構造の前記表面の一部分までの距離を決定するように構成されている、制御回路と、を備える、外科用可視化システム。 - 前記制御回路が、前記埋没構造と、前記解剖学的構造の前記三次元デジタル表示に基づく前記解剖学的構造の三次元レンダリングとを選択的にディスプレイ上に描写するように構成されている、請求項1に記載の外科用可視化システム。
- 前記制御回路が、前記構造化光エミッタから前記構造化光エミッタと前記埋没構造を結んだ直線上に存在する前記解剖学的構造の前記表面の前記一部分までの前記距離が所定の距離まで短縮したときに警告を選択的に提供するように構成されている、請求項2に記載の外科用可視化システム。
- 前記スペクトル光エミッタが、前記解剖学的構造を透過し、前記埋没構造に到達することが可能な複数の赤外線波長のスペクトル光を放射するように構成されている、請求項1に記載の外科用可視化システム。
- 前記スペクトル光エミッタが第1のロボットアーム上に支持され、前記構造化光エミッタが第2のロボットアーム上に支持されている、請求項1に記載の外科用可視化システム。
- 前記制御回路が、前記スペクトル光エミッタから前記埋没構造までの距離を決定するように構成されている飛行時間モジュールを更に含む、請求項1に記載の外科用可視化システム。
- 前記制御回路が、
前記スペクトル光エミッタから前記埋没構造までの前記距離及び前記スペクトル光エミッタから前記構造化光エミッタまでの距離に基づいて、前記構造化光エミッタから前記埋没構造までの距離を決定し、
前記構造化光エミッタから前記埋没構造までの前記距離が所定の距離まで短縮したときに警告を提供するように構成されている、請求項6に記載の外科用可視化システム。
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