JP7653518B2 - 画像処理装置、マニピュレータシステム及び画像処理装置の作動方法 - Google Patents

画像処理装置、マニピュレータシステム及び画像処理装置の作動方法 Download PDF

Info

Publication number
JP7653518B2
JP7653518B2 JP2023529259A JP2023529259A JP7653518B2 JP 7653518 B2 JP7653518 B2 JP 7653518B2 JP 2023529259 A JP2023529259 A JP 2023529259A JP 2023529259 A JP2023529259 A JP 2023529259A JP 7653518 B2 JP7653518 B2 JP 7653518B2
Authority
JP
Japan
Prior art keywords
bending
angle
processing device
image processing
image
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
JP2023529259A
Other languages
English (en)
Japanese (ja)
Other versions
JPWO2022269736A5 (https=
JPWO2022269736A1 (https=
Inventor
涼太 柳川
宏亮 岸
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Olympus Medical Systems Corp
Original Assignee
Olympus Medical Systems Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Olympus Medical Systems Corp filed Critical Olympus Medical Systems Corp
Publication of JPWO2022269736A1 publication Critical patent/JPWO2022269736A1/ja
Publication of JPWO2022269736A5 publication Critical patent/JPWO2022269736A5/ja
Application granted granted Critical
Publication of JP7653518B2 publication Critical patent/JP7653518B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/009—Flexible endoscopes with bending or curvature detection of the insertion part
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T19/00—Manipulating three-dimensional [3D] models or images for computer graphics
    • G06T19/20—Editing of three-dimensional [3D] images, e.g. changing shapes or colours, aligning objects or positioning parts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00043—Operational features of endoscopes provided with output arrangements
    • A61B1/00045—Display arrangement
    • A61B1/0005—Display arrangement combining images e.g. side-by-side, superimposed or tiled
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00163—Optical arrangements
    • A61B1/00194—Optical arrangements adapted for three-dimensional imaging
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/25—User interfaces for surgical systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/06—Arms flexible
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T15/00—Three-dimensional [3D] image rendering
    • G06T15/10—Geometric effects
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T19/00—Manipulating three-dimensional [3D] models or images for computer graphics
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/102—Modelling of surgical devices, implants or prosthesis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • A61B2090/367—Correlation of different images or relation of image positions in respect to the body creating a 3D dataset from 2D images using position information
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2219/00—Indexing scheme for manipulating 3D models or images for computer graphics
    • G06T2219/20—Indexing scheme for editing of 3D models
    • G06T2219/2016—Rotation, translation, scaling

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Physics & Mathematics (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Medical Informatics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Biophysics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Pathology (AREA)
  • Optics & Photonics (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Graphics (AREA)
  • Computer Hardware Design (AREA)
  • General Engineering & Computer Science (AREA)
  • Software Systems (AREA)
  • Robotics (AREA)
  • Signal Processing (AREA)
  • Geometry (AREA)
  • Architecture (AREA)
  • Human Computer Interaction (AREA)
  • Mechanical Engineering (AREA)
  • Instruments For Viewing The Inside Of Hollow Bodies (AREA)
  • Endoscopes (AREA)
JP2023529259A 2021-06-22 2021-06-22 画像処理装置、マニピュレータシステム及び画像処理装置の作動方法 Active JP7653518B2 (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2021/023516 WO2022269736A1 (ja) 2021-06-22 2021-06-22 画像処理装置、マニピュレータシステム、画像処理方法及び表示方法

Publications (3)

Publication Number Publication Date
JPWO2022269736A1 JPWO2022269736A1 (https=) 2022-12-29
JPWO2022269736A5 JPWO2022269736A5 (https=) 2024-02-02
JP7653518B2 true JP7653518B2 (ja) 2025-03-28

Family

ID=84545285

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2023529259A Active JP7653518B2 (ja) 2021-06-22 2021-06-22 画像処理装置、マニピュレータシステム及び画像処理装置の作動方法

Country Status (3)

Country Link
US (1) US12475664B2 (https=)
JP (1) JP7653518B2 (https=)
WO (1) WO2022269736A1 (https=)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004180940A (ja) 2002-12-03 2004-07-02 Olympus Corp 内視鏡装置
WO2005039401A1 (ja) 2003-10-29 2005-05-06 Olympus Corporation 挿入支援システム
JP2009056238A (ja) 2007-09-03 2009-03-19 Olympus Medical Systems Corp 内視鏡装置
JP2017205292A (ja) 2016-05-18 2017-11-24 オリンパス株式会社 画像ファイル作成方法、画像ファイル作成プログラム及び画像ファイル作成装置
JP2018532467A (ja) 2015-09-18 2018-11-08 オーリス ヘルス インコーポレイテッド 管状網のナビゲーション

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4728456B1 (ja) * 2010-02-22 2011-07-20 オリンパスメディカルシステムズ株式会社 医療機器
US9770216B2 (en) 2014-07-02 2017-09-26 Covidien Lp System and method for navigating within the lung
WO2020123671A1 (en) * 2018-12-11 2020-06-18 Project Moray, Inc. Hybrid-dimensional, augmented reality, and/or registration of user interface and simulation systems for robotic catheters and other uses
WO2021054360A1 (ja) * 2019-09-20 2021-03-25 Hoya株式会社 内視鏡用プロセッサ、プログラム、情報処理方法及び情報処理装置
EP4635444A3 (en) * 2020-03-24 2025-12-31 Intuitive Surgical Operations, Inc. Systems and methods for registering an instrument to an image using point cloud data and endoscopic image data
WO2021257897A1 (en) * 2020-06-17 2021-12-23 Project Moray, Inc. Axial insertion and movement along a partially constrained path for robotic catheters and other uses

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004180940A (ja) 2002-12-03 2004-07-02 Olympus Corp 内視鏡装置
WO2005039401A1 (ja) 2003-10-29 2005-05-06 Olympus Corporation 挿入支援システム
JP2009056238A (ja) 2007-09-03 2009-03-19 Olympus Medical Systems Corp 内視鏡装置
JP2018532467A (ja) 2015-09-18 2018-11-08 オーリス ヘルス インコーポレイテッド 管状網のナビゲーション
JP2017205292A (ja) 2016-05-18 2017-11-24 オリンパス株式会社 画像ファイル作成方法、画像ファイル作成プログラム及び画像ファイル作成装置

Also Published As

Publication number Publication date
US12475664B2 (en) 2025-11-18
JPWO2022269736A1 (https=) 2022-12-29
US20240062499A1 (en) 2024-02-22
WO2022269736A1 (ja) 2022-12-29

Similar Documents

Publication Publication Date Title
US11865729B2 (en) Tool position and identification indicator displayed in a boundary area of a computer display screen
EP3977406B1 (en) Composite medical imaging systems and methods
JP7756079B2 (ja) 外科手術仮想現実ユーザインターフェース
US9801690B2 (en) Synthetic representation of a surgical instrument
JP5737796B2 (ja) 内視鏡操作システムおよび内視鏡操作プログラム
US12555337B2 (en) Mixed reality systems and methods for indicating an extent of a field of view of an imaging device
JP5766150B2 (ja) 内視鏡操作システム
US20140114481A1 (en) Medical master slave manipulator system
JP7731287B2 (ja) 外科空間への外科器具の挿入を容易にするシステム及び方法
KR20120004479A (ko) 수술 로봇의 통합적 표현
KR20210024212A (ko) 수술 지원 장치, 그 제어 방법, 기록 매체 및 수술 지원 시스템
CN111991085A (zh) 手术机器人及其图形化控制装置、图形化显示方法
US20230139425A1 (en) Systems and methods for optimizing configurations of a computer-assisted surgical system for reachability of target objects
CN118043005A (zh) 用于控制内部体腔中的手术机器人组件的系统和方法
JP7653518B2 (ja) 画像処理装置、マニピュレータシステム及び画像処理装置の作動方法
JP5800609B2 (ja) 医療用マスタスレーブマニピュレータ
CN115192207B (zh) 手术机器人、主操作台及其控制方法、控制装置
WO2025230949A1 (en) Systems and methods for adapting depth placement of graphical user interface elements with surgical imagery

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20231025

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20231025

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20241029

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20241206

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20250121

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20250127

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20250304

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20250317

R150 Certificate of patent or registration of utility model

Ref document number: 7653518

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150