JP7473377B2 - ロボット手術支援装置、ロボット手術支援方法、及びプログラム - Google Patents
ロボット手術支援装置、ロボット手術支援方法、及びプログラム Download PDFInfo
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Description
図1Aは、第1の実施形態におけるロボット手術支援システム1の構成例を示すブロック図である。ロボット手術支援システム1は、ロボット手術支援装置100と、CT装置200と、手術支援ロボット300と、手術ベッド400と、を備える。ロボット手術支援装置100と、CT装置200と、手術支援ロボット300と、手術ベッド400とは、ネットワークを介して接続されてもよい。また、ロボット手術支援装置100は、CT装置200、手術支援ロボット300、及び手術ベッド400の各装置と、1対1で接続されてもよい。図1Aでは、ロボット手術支援装置100が、CT装置200、手術支援ロボット300及び手術ベッド400のそれぞれと接続されていることを例示している。
上記実施形態の一態様は、テーブル420と、脚保持部450と、支持部材440(支持部材の一例)と、プロセッサPR(処理部の一例)と、を備える手術ベッド400である。テーブル420は、被検体PSの胴体部33を載置する。脚保持部450は、被検体PSの脚部31を保持する。支持部材440は、テーブル420と脚保持部450とに接続され、脚保持部450とテーブル420との位置関係を調整自在に支持する。プロセッサPRは、脚保持部450とテーブル420との位置関係を導出する機能を有する。
11 足骨
12 脛骨
13 大腿骨
14 骨盤
15 腰椎
21 足関節
22 膝関節
23 股関節
30 手術器具
30V 仮想手術器具
31 脚部
31a 足部
31b 脛部
32 大腿部
33 胴体部
40 プラットフォーム
51 骨盤内臓器
100 ロボット手術支援装置
110 送受部
120 UI
130 ディスプレイ
140 プロセッサ
150 メモリ
160 処理部
161 領域処理部
162 変形処理部
163 モデル設定部
164 位置処理部
166 画像生成部
167 表示制御部
200 CT装置
300 手術支援ロボット
310 ロボット操作端末
320 ロボット本体
330 画像表示端末
400 手術ベッド
403 操作部
405 通信部
410 ベース
420 テーブル
421 第1テーブル
422 第2テーブル
440 支持部材
450 脚保持部
460,464 直進ジョイント
461,462,463,465 回転ジョイント
AC,AC1,AC2,AC3,AC4,AC5,AC6,AC7,AC8 アクチュエータ
AR ロボットアーム
EF エンドエフェクタ
EM 伸縮機構
ES 内視鏡
PR プロセッサ
TG ターゲット
RM,RM1,RM2,RM3,RM4 回転機構
SM,SM1,SM2,SM3,SM4 スライド機構
SR,SR1,SR2,SR3,SR4,SR5,SR6,SR7,SR8 センサ
Claims (5)
- 手術支援ロボットによる鏡視下手術を支援するロボット手術支援装置であって、
第1の処理部を備え、
前記第1の処理部は、
手術ベッドにより導出された脚保持部とテーブルとの位置関係の情報を取得し、
被検体の3Dデータを取得し、
前記脚保持部と前記テーブルとの位置関係と、前記3Dデータと、に基づいて、前記3Dデータにおける前記被検体の少なくとも骨盤の状態を推定する、機能を有し、
前記手術ベッドは、
前記被検体の胴体部を載置する前記テーブルと、
前記被検体の脚部を保持する前記脚保持部と、
前記テーブルと前記脚保持部とに接続され、前記脚保持部と前記テーブルとの位置関係を調整自在に支持する支持部材と、
前記脚保持部と前記テーブルとの位置関係を導出する機能を有する第2の処理部と、を備える、
ロボット手術支援装置。 - 前記第1の処理部は、前記3Dデータと、前記骨盤の状態に基づいて、3Dデータにおいて前記被検体の前記骨盤に連動する臓器の変形を算出する、
請求項1に記載のロボット手術支援装置。 - 前記第1の処理部は、
前記手術支援ロボットからの手術器具の位置を取得し、
前記3Dデータに基づいて、前記被検体の画像を生成し、
前記被検体の画像における前記骨盤の位置に対応する位置に、前記骨盤を示す情報を表示させ、前記被検体の画像における前記手術器具の位置に対応する位置に、前記手術器具を示す情報を表示させる、
請求項1又は2に記載のロボット手術支援装置。 - 手術支援ロボットによる鏡視下手術を支援するロボット手術支援方法であって、
被検体が載置される手術ベッドが備えるテーブルと脚保持部との位置関係を取得するステップと、
前記被検体の3Dデータを取得するステップと、
前記脚保持部と前記テーブルとの位置関係と、前記3Dデータと、に基づいて、前記被検体における少なくとも骨盤の位置を推定するステップと、
を有するロボット手術支援方法。 - 請求項4に記載のロボット手術支援方法をコンピュータに実行させるためのプログラム。
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Citations (7)
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JP2019130231A (ja) | 2018-02-02 | 2019-08-08 | 富士ゼロックス株式会社 | シート状装置 |
WO2019220239A1 (en) | 2018-05-16 | 2019-11-21 | Medacta International Sa | Positioning apparatus of a patient's limb |
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JP2002529115A (ja) | 1998-08-07 | 2002-09-10 | ヒル−ロム,インコーポレイティド | 産科及び婦人科のためのストレッチャ |
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JP2007111126A (ja) | 2005-10-18 | 2007-05-10 | Hitachi Medical Corp | 手術支援装置 |
JP2011512166A (ja) | 2007-05-29 | 2011-04-21 | スミス アンド ネフュー インコーポレーテッド | 股関節の伸延 |
JP2010221015A (ja) | 2009-02-27 | 2010-10-07 | Terumo Corp | 3次元人体モデル生成装置、3次元人体モデル生成方法及び3次元人体モデル生成プログラム |
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WO2019220239A1 (en) | 2018-05-16 | 2019-11-21 | Medacta International Sa | Positioning apparatus of a patient's limb |
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