JPWO2019191144A5 - - Google Patents
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- JPWO2019191144A5 JPWO2019191144A5 JP2020551849A JP2020551849A JPWO2019191144A5 JP WO2019191144 A5 JPWO2019191144 A5 JP WO2019191144A5 JP 2020551849 A JP2020551849 A JP 2020551849A JP 2020551849 A JP2020551849 A JP 2020551849A JP WO2019191144 A5 JPWO2019191144 A5 JP WO2019191144A5
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Claims (15)
１つ又は２つ以上の位置センサのセットを含む器具であって、前記１つ又は２つ以上の位置センサのセットが、位置センサ座標系内の前記１つ又は２つ以上の位置センサのセットのポジションを示す位置データを生成するように構成された、器具と、
前記器具の遠位端の移動を制御するように構成された器具マニピュレータのセットと、
コンピューターシステムのプロセッサのセットと、
前記プロセッサのセットと通信し、（ｉ）患者の管腔網のモデルであって、前記モデルが、モデル座標系内のターゲット及び前記ターゲットへの経路を含む、モデルと、（ｉｉ）前記ターゲットへの前記経路の外側にある前記管腔網の第１の分岐、及び前記ターゲットへの前記経路の一部である前記管腔網の第２の分岐を含む、位置合わせ経路と、を記憶した、前記コンピューターシステムの少なくとも１つのコンピュータ可読メモリと、を備え、前記メモリは、前記プロセッサのセットに、
前記器具を前記位置合わせ経路に従って前記管腔網の前記第１の分岐に沿って駆動するように、第１のコマンドセットを前記器具マニピュレータのセットに提供することと、
前記器具を前記第１の分岐に沿って駆動する間に、１つ又は２つ以上の位置合わせパラメータのセットを追跡することと、
前記１つ又は２つ以上の位置合わせパラメータのセットが位置合わせ基準を満たすことを判定することと、
前記器具を前記経路に戻し、前記器具を前記位置合わせ経路に従って前記第２の分岐に沿って駆動するように、第２のコマンドセットを前記器具マニピュレータのセットに提供することと、
前記位置センサ座標系と前記モデル座標系との間の位置合わせを、前記器具を前記第１の分岐及び前記第２の分岐に沿って駆動する間に、前記１つ又は２つ以上の位置センサのセットから受信した前記位置データに基づいて判定することと、を行わせるための、コンピュータ実行可能命令を更に記憶している、システム。 It ’s a system,
An instrument that includes a set of one or more position sensors, wherein the set of the one or more position sensors is a set of the one or more position sensors in the position sensor coordinate system. Instruments and instruments configured to generate position data indicating the position of
A set of instrument manipulators configured to control the movement of the distal end of the instrument,
With a set of processors in a computer system,
Communicating with the set of processors, (i) a model of the patient's lumen network, wherein the model includes a target in the model coordinate system and a path to the target, and (ii) the target. A alignment path, including a first branch of the lumen network outside the path to the target and a second branch of the lumen network that is part of the path to the target, is stored. With at least one computer-readable memory of the computer system, the memory is in the set of processors.
Providing a first set of commands to the set of instrument manipulators to drive the instrument along the first branch of the lumen network according to the alignment path .
Tracking a set of one or more alignment parameters while driving the instrument along the first branch.
Determining that the set of one or more alignment parameters meets the alignment criteria.
To provide a second set of commands to the set of instrument manipulators to return the instrument to the path and drive the instrument along the second branch according to the alignment path .
One or more position sensors during the alignment between the position sensor coordinate system and the model coordinate system while driving the instrument along the first branch and the second branch. A system that further stores computer-executable instructions for making decisions based on said position data received from the set of.
前記メモリが、前記１つ又は２つ以上のユーザ入力デバイスから受信したユーザ入力に基づいて、前記プロセッサのセットに前記第１のコマンドセット及び前記第２のコマンドセットを生成させるための、コンピュータ実行可能命令を更に記憶している、請求項１に記載のシステム。 Computer execution for the memory to cause the set of processors to generate the first command set and the second command set based on user input received from the one or more user input devices. The system of claim 1, further storing possible commands.
前記器具を前記管腔網内の第１の位置に駆動するように、第３のコマンドセットを前記器具マニピュレータのセットに提供させるための、コンピュータ実行可能命令を更に記憶しており、 It further stores computer-executable instructions for providing a third set of commands to the set of instrument manipulators to drive the instrument to a first position within the lumen network.
前記器具の前記遠位端が前記第１の位置から閾値距離内にある間は、前記位置センサ座標系と前記モデル座標系との間の前記位置合わせが、前記１つ又は２つ以上の位置センサのセットから受信した前記位置データに更に基づく、請求項１に記載のシステム。 While the distal end of the instrument is within a threshold distance from the first position, the alignment between the position sensor coordinate system and the model coordinate system is at one or more of the positions. The system of claim 1, further based on said position data received from a set of sensors.
前記第１の位置に到達した後に前記器具を後退させるように、第４のコマンドセットを前記器具マニピュレータのセットに提供させ、 A fourth set of commands was provided to the set of instrument manipulators to retract the instrument after reaching the first position.
前記第３のコマンドセット及び前記第４のコマンドに基づいて、前記モデル座標系内の前記第１の位置のポジションを判定させるための、コンピュータ実行可能命令を更に記憶しており、 It further stores computer-executable instructions for determining the position of the first position in the model coordinate system based on the third command set and the fourth command.
前記位置センサ座標系と前記モデル座標系との間の前記位置合わせが、前記器具を前記第１の位置から後退させる前に受信された前記位置データに更に基づく、請求項４に記載のシステム。 4. The system of claim 4, wherein the alignment between the position sensor coordinate system and the model coordinate system is further based on the position data received prior to retracting the instrument from the first position.
前記メモリは、前記プロセッサのセットに、 The memory is in the set of processors.
前記カメラから受信した画像の分析に基づいて、前記器具の前記遠位端のポジションを判定させ、 Based on the analysis of the image received from the camera, the position of the distal end of the instrument is determined.
前記器具の前記遠位端の前記遠位端が、前記器具の前記遠位端の判定されたポジションに基づいて、前記第１の位置から閾値距離内にあることを判定させるための、コンピュータ実行可能命令を更に記憶している、請求項４に記載のシステム。 A computer run to determine that the distal end of the distal end of the instrument is within a threshold distance from the first position based on the determined position of the distal end of the instrument. The system of claim 4, further storing possible instructions.
前記器具を前記第１の分岐及び前記第２の分岐に沿って駆動する間に、前記位置座標系に対する前記器具の前記遠位端の前記位置を表す位置データ点のセットを生成させ、 While driving the instrument along the first branch and the second branch, a set of position data points representing the position of the distal end of the instrument with respect to the position coordinate system is generated.
前記第１のコマンドセット及び前記第２のコマンドセットに基づいて、前記モデル座標系に対する前記器具の前記遠位端の前記位置を表すモデル点のセットを生成させるための、コンピュータ実行可能命令を更に記憶しており、 Based on the first command set and the second command set, further computer-executable instructions for generating a set of model points representing the position of the distal end of the instrument with respect to the model coordinate system. I remember,
前記位置座標系と前記モデル座標系との間の前記位置合わせが、前記位置座標系内の前記位置データ点のセットの、前記モデル座標系内の前記モデル点のセットへのマッピングに更に基づく、請求項１に記載のシステム。 The alignment between the position coordinate system and the model coordinate system is further based on the mapping of the set of position data points in the position coordinate system to the set of model points in the model coordinate system. The system according to claim 1.
前記メモリは、前記プロセッサのセットに、 The memory is in the set of processors.
前記位置合わせパラメータのセットが、閾値挿入深さより大きい前記第１の分岐への前記挿入深さに応じて、前記位置合わせ基準を満たすことを判定させるための、コンピュータ実行可能命令を更に記憶している、請求項１に記載のシステム。 Further storing computer executable instructions to determine that the set of alignment parameters meets the alignment criteria according to the insertion depth into the first branch that is greater than the threshold insertion depth. The system according to claim 1.
器具を管腔網の第１の分岐に沿って駆動するように、第１のコマンドセットを器具マニピュレータのセットに提供することであって、前記器具が、１つ又は２つ以上の位置センサのセットを含み、前記１つ又は２つ以上の位置センサのセットが、位置センサ座標系内の前記１つ又は２つ以上の位置センサのセットのポジションを示す位置データを生成するように構成されており、前記器具マニピュレータのセットが、前記器具の遠位端の移動を制御するように構成されており、メモリが、（ｉ）患者の管腔網のモデルであって、前記モデルが、モデル座標系内のターゲット及び前記ターゲットへの経路を含む、モデルと、（ｉｉ）前記ターゲットへの前記経路の外側にある前記管腔網の前記第１の分岐、及び前記ターゲットへの前記経路の一部である前記管腔網の第２の分岐を含む、位置合わせ経路と、を記憶する、提供することと、 A first set of commands is provided to a set of instrument manipulators such that the instrument is driven along a first branch of the lumen network, wherein the instrument is of one or more position sensors. The set of the one or more position sensors, including the set, is configured to generate position data indicating the position of the set of the one or more position sensors in the position sensor coordinate system. The set of instrument manipulators is configured to control the movement of the distal end of the instrument and the memory is (i) a model of the patient's luminal network, the model being model coordinates. A model comprising a target in the system and a route to the target, and (ii) the first branch of the lumen network outside the route to the target, and a portion of the route to the target. To store, provide, and provide an alignment route, including a second branch of the lumen network.
前記器具を前記位置合わせ経路に従って前記第１の分岐に沿って駆動する間に、１つ又は２つ以上の位置合わせパラメータのセットを追跡することと、 Tracking a set of one or more alignment parameters while driving the instrument along the first branch according to the alignment path.
前記１つ又は２つ以上の位置合わせパラメータのセットが、位置合わせ基準を満たすことを判定することと、 Determining that the set of one or more alignment parameters meets the alignment criteria.
前記器具を前記経路に戻し、前記器具を前記位置合わせ経路に従って前記第２の分岐に沿って駆動するように、第２のコマンドセットを前記器具マニピュレータのセットに提供することと、 To provide a second set of commands to the set of instrument manipulators to return the instrument to the path and drive the instrument along the second branch according to the alignment path.
前記器具を前記第１の分岐及び前記第２の分岐に沿って駆動する間に、前記１つ又は２つ以上の位置センサのセットから受信した前記位置データに基づいて、前記位置センサ座標系と前記モデル座標系との間の位置合わせを判定することと、を行わせるための、命令を記憶している、非一時的コンピュータ可読記憶媒体。 With the position sensor coordinate system based on the position data received from the set of one or more position sensors while driving the instrument along the first branch and the second branch. A non-temporary computer-readable storage medium that stores instructions for determining and performing alignment with the model coordinate system.
前記器具を前記管腔網内の第１の位置に駆動するように、第３のコマンドセットを前記器具マニピュレータのセットに提供させる、命令を更に記憶しており、 Further remembering the command to provide the set of instrument manipulators with a third set of commands to drive the instrument to a first position within the lumen network.
前記器具の前記遠位端が前記第１の位置から閾値距離内にある間は、前記位置センサ座標系と前記モデル座標系との間の前記位置合わせが、前記１つ又は２つ以上の位置センサのセットから受信した前記位置データに更に基づく、請求項９に記載の非一時的コンピュータ可読記憶媒体。 While the distal end of the instrument is within a threshold distance from the first position, the alignment between the position sensor coordinate system and the model coordinate system is at one or more of the positions. The non-temporary computer-readable storage medium of claim 9, further based on said position data received from a set of sensors.
前記第１の位置に到達した後に前記器具を後退させるように、第４のコマンドセットを前記器具マニピュレータのセットに提供させ、 A fourth set of commands was provided to the set of instrument manipulators to retract the instrument after reaching the first position.
前記第３のコマンドセット及び前記第４のコマンドに基づいて、前記モデル座標系内の前記第１の位置のポジションを判定させる、命令を更に記憶しており、 Further memorizing the command to determine the position of the first position in the model coordinate system based on the third command set and the fourth command.
前記位置センサ座標系と前記モデル座標系との間の前記位置合わせが、前記器具を前記第１の位置から後退させる前に受信された前記位置データに更に基づく、請求項１０に記載の非一時的コンピュータ可読記憶媒体。 10. The non-temporary aspect of claim 10, wherein the alignment between the position sensor coordinate system and the model coordinate system is further based on the position data received prior to retracting the instrument from the first position. Computer-readable storage medium.
前記非一時的コンピュータ可読記憶媒体は、実行されると、少なくとも１つのコンピューティングデバイスに、 The non-temporary computer-readable storage medium, when executed, is integrated into at least one computing device.
前記カメラから受信した画像の分析に基づいて、前記器具の前記遠位端のポジションを判定することと、 Determining the position of the distal end of the instrument based on the analysis of the image received from the camera.
前記器具の前記遠位端の前記遠位端が、前記器具の前記遠位端の判定されたポジションに基づいて、前記第１の位置から閾値距離内にあることを判定することと、を行わせる、命令を更に記憶している、請求項１０に記載の非一時的コンピュータ可読記憶媒体。 Determining that the distal end of the distal end of the instrument is within a threshold distance from the first position based on the determined position of the distal end of the instrument. The non-temporary computer-readable storage medium of claim 10, further storing instructions.
前記器具を前記第１の分岐及び前記第２の分岐に沿って駆動する間に、前記位置座標系に対する前記器具の前記遠位端の前記位置を表す位置データ点のセットを生成させ、 While driving the instrument along the first branch and the second branch, a set of position data points representing the position of the distal end of the instrument with respect to the position coordinate system is generated.
前記第１のコマンドセット及び前記第２のコマンドセットに基づいて、前記モデル座標系に対する前記器具の前記遠位端の前記位置を表すモデル点のセットを生成させる、命令を更に記憶しており、 Based on the first command set and the second command set, the command is further stored to generate a set of model points representing the position of the distal end of the instrument with respect to the model coordinate system.
前記位置座標系と前記モデル座標系との間の前記位置合わせが、前記位置座標系内の前記位置データ点のセットの、前記モデル座標系内の前記モデル点のセットへのマッピングに更に基づく、請求項９に記載の非一時的コンピュータ可読記憶媒体。 The alignment between the position coordinate system and the model coordinate system is further based on the mapping of the set of position data points in the position coordinate system to the set of model points in the model coordinate system. The non-temporary computer-readable storage medium according to claim 9.
前記非一時的コンピュータ可読記憶媒体は、実行されると、少なくとも１つのコンピューティングデバイスに、 The non-temporary computer-readable storage medium, when executed, is integrated into at least one computing device.
前記位置合わせパラメータのセットが、閾値挿入深さより大きい前記第１の分岐への前記挿入深さに応じて、前記位置合わせ基準を満たすことを判定させるための、命令を更に記憶している、請求項９に記載の非一時的コンピュータ可読記憶媒体。 Claimed to further store instructions for determining that the set of alignment parameters meets the alignment criteria according to the insertion depth into the first branch that is greater than the threshold insertion depth. Item 9. The non-temporary computer-readable storage medium according to item 9.
器具を管腔網の第１の分岐に沿って駆動するように、第１のコマンドセットを器具マニピュレータのセットに提供することであって、前記器具が、前記１つ又は２つ以上の位置センサのセットを含み、前記１つ又は２つ以上の位置センサのセットが、位置センサ座標系内の前記１つ又は２つ以上の位置センサのセットのポジションを示す位置データを生成するように構成されており、前記器具マニピュレータのセットが、前記器具の遠位端の移動を制御するように構成されており、メモリが、（ｉ）患者の管腔網のモデルであって、前記モデルが、モデル座標系内のターゲット及び前記ターゲットへの経路を含む、モデルと、（ｉｉ）前記ターゲットへの前記経路の外側にある前記管腔網の前記第１の分岐、及び前記ターゲットへの前記経路の一部である前記管腔網の第２の分岐を含む、位置合わせ経路と、を記憶する、提供することと、 A first set of commands is provided to a set of instrument manipulators such that the instrument is driven along a first branch of the lumen network, wherein the instrument is the one or more position sensors. The set of one or more position sensors is configured to generate position data indicating the position of the set of one or more position sensors in the position sensor coordinate system. The set of instrument manipulators is configured to control the movement of the distal end of the instrument and the memory is (i) a model of the patient's luminal network, wherein the model is a model. A model comprising a target in a coordinate system and a path to the target, and (ii) the first branch of the lumen network outside the path to the target, and one of the paths to the target. To store, provide, and provide an alignment path, including a second branch of the luminal network, which is a portion.
前記器具を前記位置合わせ経路に従って前記第１の分岐に沿って駆動する間に、１つ又は２つ以上の位置合わせパラメータのセットを追跡することと、 Tracking a set of one or more alignment parameters while driving the instrument along the first branch according to the alignment path.
前記１つ又は２つ以上の位置合わせパラメータのセットが、位置合わせ基準を満たすことを判定することと、 Determining that the set of one or more alignment parameters meets the alignment criteria.
前記器具を前記経路に戻し、前記器具を前記位置合わせ経路に従って前記第２の分岐に沿って駆動するように、第２のコマンドセットを前記器具マニピュレータのセットに提供することと、 To provide a second set of commands to the set of instrument manipulators to return the instrument to the path and drive the instrument along the second branch according to the alignment path.
前記器具を前記第１の分岐及び前記第２の分岐に沿って駆動する間に、前記１つ又は２つ以上の位置センサのセットから受信した前記位置データに基づいて、前記位置センサ座標系と前記モデル座標系との間の位置合わせを判定することと、を含む、方法。 With the position sensor coordinate system based on the position data received from the set of one or more position sensors while driving the instrument along the first branch and the second branch. A method comprising determining alignment with the model coordinate system.
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| US201862649513P | 2018-03-28 | 2018-03-28 | |
| US62/649,513 | 2018-03-28 | ||
| PCT/US2019/024147 WO2019191144A1 (en) | 2018-03-28 | 2019-03-26 | Systems and methods for registration of location sensors |
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| JP (1) | JP7214747B2 (en) |
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2019
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- 2019-03-26 WO PCT/US2019/024147 patent/WO2019191144A1/en unknown
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- 2019-03-26 EP EP19777209.8A patent/EP3773131A4/en active Pending
- 2019-03-26 CN CN201980003383.9A patent/CN110891469B/en active Active
- 2019-03-26 JP JP2020551849A patent/JP7214747B2/en active Active
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2020
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2021
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- 2023-02-13 US US18/108,744 patent/US20230270505A1/en active Pending
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