JPWO2021038469A5 - - Google Patents

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JPWO2021038469A5
JPWO2021038469A5 JP2022513193A JP2022513193A JPWO2021038469A5 JP WO2021038469 A5 JPWO2021038469 A5 JP WO2021038469A5 JP 2022513193 A JP2022513193 A JP 2022513193A JP 2022513193 A JP2022513193 A JP 2022513193A JP WO2021038469 A5 JPWO2021038469 A5 JP WO2021038469A5
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システムであって、
１つ又は２つ以上の位置センサのセットを備える器具であって、前記位置センサが、センサ座標系における前記器具の遠位端の位置を示す位置データを生成するように構成されている、器具と、
１つ又は２つ以上のプロセッサのセットと、
前記１つ又は２つ以上のプロセッサのセットと通信し、かつモデル座標系に関して患者の管腔網のモデルを記憶している少なくとも１つのコンピュータ可読メモリであって、前記モデルが、前記管腔網の管腔に沿った中点によって画定される骨格を含む、少なくとも１つのコンピュータ可読メモリと、
を備え、前記メモリが、前記メモリに記憶されたコンピュータ実行可能命令を更に有し、前記コンピュータ実行可能命令が、前記１つ又は２つ以上のプロセッサに、
前記位置センサによって生成された前記位置データに基づいて、前記センサ座標系内のセンサ位置点のセットを生成させ、
前記モデル座標系内のモデル位置点のセットを判定させ、
前記センサ位置点のセット及び前記モデル位置点のセットに基づいて、前記センサ座標系と前記モデル座標系との間の初期位置合わせを判定させ、
前記センサ位置点の各々から所与の管腔の前記骨格までの距離に基づいて、前記センサ位置点を選別させ、
最小距離を有する定義された割合の前記センサ位置点を第１の群に選別させ、残りのセンサ位置点を第２の群に選別させ、
前記センサ位置点のセットに対応する重み値のセットを判定させ、
選別された前記センサ位置点に基づいて、前記重み値を前記センサ位置点に割り当てさせ、
前記センサ位置点のセット、前記モデル位置点のセット、及び前記重み値のセットに基づいて、前記センサ座標系と前記モデル座標系との間の更新された位置合わせを判定させる、
システム。 a system,
An instrument comprising a set of one or more position sensors, said position sensors configured to generate position data indicative of the position of the distal end of said instrument in a sensor coordinate system. and,
a set of one or more processors;
at least one computer readable memory in communication with the set of one or more processors and storing a model of a patient's luminal network with respect to a model coordinate system, wherein the model corresponds to the luminal network; at least one computer readable memory comprising a skeleton defined by a midpoint along the lumen of
wherein said memory further comprises computer-executable instructions stored in said memory, said computer-executable instructions instructing said one or more processors to:
generating a set of sensor location points in the sensor coordinate system based on the location data generated by the location sensor;
determining a set of model location points within the model coordinate system;
determining an initial alignment between the sensor coordinate system and the model coordinate system based on the set of sensor location points and the set of model location points;
having the sensor location points sorted based on the distance from each of the sensor location points to the skeleton of a given lumen;
having a defined percentage of the sensor location points with the smallest distance sorted into a first group and the remaining sensor location points sorted into a second group;
determining a set of weight values corresponding to the set of sensor location points;
causing the weight values to be assigned to the sensor location points based on the selected sensor location points;
determining an updated alignment between the sensor coordinate system and the model coordinate system based on the set of sensor location points, the set of model location points, and the set of weight values;
system. 前記コンピュータ実行可能命令が更に、前記１つ又は２つ以上のプロセッサに、
前記初期位置合わせを使用して、前記センサ位置点を前記センサ座標系から前記モデル座標系に変換させ、
前記モデル座標系内の変換された前記センサ位置点の各々と前記骨格との間の距離を判定させ、
前記重み値の前記判定が、変換された前記センサ位置点と前記骨格との間の距離に更に基づく、請求項１に記載のシステム。 The computer-executable instructions further instruct the one or more processors to:
transforming the sensor location points from the sensor coordinate system to the model coordinate system using the initial alignment;
determining a distance between each of the transformed sensor location points in the model coordinate system and the skeleton;
2. The system of claim 1, wherein said determination of said weight value is further based on a distance between said transformed sensor location point and said skeleton. 前記重み値のセットが、バイナリである、請求項２に記載のシステム。 3. The system of claim 2, wherein the set of weight values is binary. 前記コンピュータ実行可能命令が更に、前記１つ又は２つ以上のプロセッサに、
変換された前記センサ位置点の各々と前記骨格との間の各距離を、距離閾値と比較させ、
前記比較に基づいて、変換された前記センサ位置点の各々に、前記バイナリ重み値のうちの１つを割り当てさせる、請求項３に記載のシステム。 The computer-executable instructions further instruct the one or more processors to:
comparing each distance between each of the transformed sensor location points and the skeleton to a distance threshold;
4. The system of claim 3, wherein each of said transformed sensor location points is assigned one of said binary weight values based on said comparison. 前記モデルが、前記管腔網の前記管腔の直径値を更に含み、
前記重み値の前記判定が、前記管腔の前記直径値に更に基づく、請求項１に記載のシステム。 wherein the model further includes diameter values for the lumens of the lumen network;
2. The system of claim 1, wherein said determination of said weight value is further based on said diameter value of said lumen. 前記器具が、前記管腔網の内部の画像をキャプチャするように構成されたカメラを更に備え、
前記コンピュータ実行可能命令が更に、前記１つ又は２つ以上のプロセッサに、前記センサ位置点の各々に関して、キャプチャされた前記画像に基づいて、前記器具の前記遠位端と前記器具の前記遠位端が位置する管腔の中心線との間の距離を判定させ、
前記センサ位置点の前記重み値の前記判定が、前記器具の前記遠位端と前記管腔の対応する中心線との間の距離に更に基づく、請求項１に記載のシステム。 the instrument further comprising a camera configured to capture an image of the interior of the luminal network;
The computer-executable instructions further instruct the one or more processors to determine, for each of the sensor location points, the distal end of the instrument and the distal end of the instrument based on the captured images. determining the distance between the centerline of the lumen in which the ends are located;
2. The system of claim 1, wherein the determination of the weight values of the sensor location points is further based on the distance between the distal end of the instrument and a corresponding centerline of the lumen. 前記重み値のセットがバイナリであり、前記コンピュータ実行可能命令が更に、前記１つ又は２つ以上のプロセッサに、
前記第１の群内の前記センサ位置点の各々に、重み値１を割り当てさせ、
前記第２の群内の前記センサ位置点の各々に、重み値０を割り当てさせる、請求項１に記載のシステム。 wherein the set of weight values is binary, and the computer-executable instructions further instruct the one or more processors to:
causing each of the sensor location points in the first group to be assigned a weight value of 1;
2. The system of claim 1, wherein each of said sensor location points in said second group is assigned a weight value of zero. 前記重み値のセットが、バイナリであり、
前記センサ位置点のセットのサブセットが、第２の生成管腔に位置する前記器具の前記遠位端に対応し、
前記センサ位置点のセットの前記サブセットに、重み値１が割り当てられる、請求項１に記載のシステム。 the set of weight values is binary;
a subset of the set of sensor location points correspond to the distal end of the instrument located in a second generation lumen;
2. The system of claim 1, wherein a weight value of one is assigned to the subset of the set of sensor location points. 前記コンピュータ実行可能命令が更に、前記１つ又は２つ以上のプロセッサに、
前記センサ位置点のうちの第１のセンサ位置点に関して、前記初期位置合わせに関連付けられた誤差を判定させ、
前記誤差が閾値誤差よりも大きいことに応答して、前記初期位置合わせを固定させる、請求項１に記載のシステム。 The computer-executable instructions further instruct the one or more processors to:
causing determination of an error associated with the initial alignment for a first one of the sensor location points;
2. The system of claim 1, wherein the initial alignment is fixed in response to the error being greater than a threshold error. 前記更新された位置合わせの前記判定が、前記誤差が前記閾値誤差以下であることに応答して、前記第１のセンサ位置点に更に基づく、請求項９に記載のシステム。 10. The system of claim 9 , wherein said determination of said updated alignment is further based on said first sensor location point in response to said error being less than or equal to said threshold error. 非一時的コンピュータ可読記憶媒体であって、前記非一時的コンピュータ可読記憶媒体に記憶された命令を有し、前記命令が実行されたときに、少なくとも１つのコンピューティングデバイスに、
器具の位置センサによって生成された位置データに基づいて、センサ座標系内のセンサ位置点のセットを生成することであって、前記位置データが、前記センサ座標系における前記器具の遠位端の位置を示す、ことと、
患者の管腔網のモデルのモデル座標系内のモデル位置点のセットを判定することであって、前記モデルが、前記管腔網の管腔に沿った中点によって画定される骨格を含む、ことと、
前記センサ位置点のセット及び前記モデル位置点のセットに基づいて、前記センサ座標系と前記モデル座標系との間の初期位置合わせを判定することと、
前記センサ位置点の各々から所与の管腔の前記骨格までの距離に基づいて、前記センサ位置点を選別することと、
最小距離を有する定義された割合の前記センサ位置点を第１の群に選別し、残りのセンサ位置点を第２の群に選別することと、
前記センサ位置点のセットに対応する重み値のセットを判定することと、
選別された前記センサ位置点に基づいて、前記重み値を前記センサ位置点に割り当てることと、
前記センサ位置点のセット、前記モデル位置点のセット、及び前記重み値のセットに基づいて、前記センサ座標系と前記モデル座標系との間の更新された位置合わせを判定することと、
を行わせる、
非一時的コンピュータ可読記憶媒体。 A non-transitory computer-readable storage medium having instructions stored on the non-transitory computer-readable storage medium, and when the instructions are executed, to at least one computing device:
Generating a set of sensor location points in a sensor coordinate system based on position data generated by a position sensor of an instrument, wherein the position data corresponds to the position of the distal end of the instrument in the sensor coordinate system. indicating a position; and
determining a set of model location points in a model coordinate system of a model of a patient's luminal network , wherein the model comprises a skeleton defined by midpoints along the lumens of the luminal network; and
determining an initial alignment between the sensor coordinate system and the model coordinate system based on the set of sensor location points and the set of model location points;
sorting the sensor location points based on the distance from each of the sensor location points to the skeleton of a given lumen;
sorting a defined percentage of the sensor location points having the smallest distance into a first group and sorting the remaining sensor location points into a second group;
determining a set of weight values corresponding to the set of sensor location points;
assigning the weight values to the sensor location points based on the selected sensor location points;
determining an updated alignment between the sensor coordinate system and the model coordinate system based on the set of sensor location points, the set of model location points, and the set of weight values;
to do
A non-transitory computer-readable storage medium. 前記非一時的コンピュータ可読記憶媒体が、前記非一時的コンピュータ可読記憶媒体に記憶された命令を更に有し、前記命令が実行されるときに、前記少なくとも１つのコンピューティングデバイスに、
前記初期位置合わせを使用して、前記センサ位置点を前記センサ座標系から前記モデル座標系に変換させ、
前記モデル座標系内の変換された前記センサ位置点の各々と前記骨格との間の距離を判定させ、
前記重み値の前記判定が、変換された前記センサ位置点と前記骨格との間の距離に更に基づく、請求項１１に記載の非一時的コンピュータ可読記憶媒体。 The non -transitory computer-readable storage medium further comprises instructions stored on the non-transitory computer-readable storage medium, and when the instructions are executed, the at least one computing device:
transforming the sensor location points from the sensor coordinate system to the model coordinate system using the initial alignment;
determining a distance between each of the transformed sensor location points in the model coordinate system and the skeleton;
12. The non-transitory computer-readable storage medium of claim 11 , wherein said determination of said weight value is further based on a distance between said transformed sensor location point and said skeleton. 前記重み値のセットが、バイナリである、請求項１２に記載の非一時的コンピュータ可読記憶媒体。 13. The non-transitory computer-readable storage medium of claim 12 , wherein the set of weight values is binary. 前記非一時的コンピュータ可読記憶媒体が、前記非一時的コンピュータ可読記憶媒体に記憶された命令を更に有し、前記命令が実行されるときに、前記少なくとも１つのコンピューティングデバイスに、
変換された前記センサ位置点の各々と前記骨格との間の各距離を、距離閾値と比較させ、
前記比較に基づいて、変換された前記センサ位置点の各々に、前記バイナリ重み値のうちの１つを割り当てさせる、請求項１３に記載の非一時的コンピュータ可読記憶媒体。 The non-transitory computer-readable storage medium further comprises instructions stored on the non-transitory computer-readable storage medium, and when the instructions are executed, the at least one computing device:
comparing each distance between each of the transformed sensor location points and the skeleton to a distance threshold;
14. The non-transitory computer-readable storage medium of claim 13 , causing each of the transformed sensor location points to be assigned one of the binary weight values based on the comparison. 前記器具が、前記管腔網の内部の画像をキャプチャするように構成されたカメラを更に備え、
前記非一時的コンピュータ可読記憶媒体が、前記非一時的コンピュータ可読記憶媒体に記憶された命令を更に有し、前記命令が実行されるときに、前記少なくとも１つのコンピューティングデバイスに、前記センサ位置点の各々に関して、キャプチャされた前記画像に基づいて、前記器具の前記遠位端と前記器具の前記遠位端が位置する管腔の中心線との間の距離を判定させ、
前記センサ位置点の前記重み値の前記判定が、前記器具の前記遠位端と前記管腔の対応する中心線との間の距離に更に基づく、請求項１１に記載の非一時的コンピュータ可読記憶媒体。 the instrument further comprising a camera configured to capture an image of the interior of the luminal network;
The non-transitory computer-readable storage medium further comprises instructions stored on the non-transitory computer-readable storage medium, wherein the at least one computing device, when the instructions are executed, causes the sensor location point determining, based on the captured image, a distance between the distal end of the instrument and a centerline of the lumen in which the distal end of the instrument is located, for each of
12. The non-transitory computer readable memory of claim 11 , wherein said determination of said weight values for said sensor location points is further based on a distance between said distal end of said instrument and a corresponding centerline of said lumen. medium. システムであって、 a system,
１つ又は２つ以上の位置センサのセットを備える器具であって、前記位置センサが、センサ座標系における前記器具の遠位端の位置を示す位置データを生成するように構成されている、器具と、 An instrument comprising a set of one or more position sensors, said position sensors configured to generate position data indicative of the position of the distal end of said instrument in a sensor coordinate system. and,
１つ又は２つ以上のプロセッサのセットと、 a set of one or more processors;
前記１つ又は２つ以上のプロセッサのセットと通信し、かつモデル座標系に関して患者の管腔網のモデルを記憶している少なくとも１つのコンピュータ可読メモリであって、前記モデルが、前記管腔網の管腔の直径値を含む、少なくとも１つのコンピュータ可読メモリと、 at least one computer readable memory in communication with the set of one or more processors and storing a model of a patient's luminal network with respect to a model coordinate system, wherein the model corresponds to the luminal network; at least one computer readable memory containing a lumen diameter value of
を備え、前記メモリが、前記メモリに記憶されたコンピュータ実行可能命令を更に有し、前記コンピュータ実行可能命令が、前記１つ又は２つ以上のプロセッサに、 wherein said memory further comprises computer-executable instructions stored in said memory, said computer-executable instructions instructing said one or more processors to:
前記位置センサによって生成された前記位置データに基づいて、前記センサ座標系内のセンサ位置点のセットを生成することと、 generating a set of sensor location points in the sensor coordinate system based on the position data generated by the position sensor;
前記モデル座標系内のモデル位置点のセットを判定することと、 determining a set of model location points within the model coordinate system;
前記センサ位置点のセット及び前記モデル位置点のセットに基づいて、前記センサ座標系と前記モデル座標系との間の初期位置合わせを判定することと、 determining an initial alignment between the sensor coordinate system and the model coordinate system based on the set of sensor location points and the set of model location points;
前記センサ位置点のセットに対応する重み値のセットを判定することであって、前記重み値が前記管腔の前記直径値に基づく、ことと、 determining a set of weight values corresponding to the set of sensor location points, wherein the weight values are based on the diameter value of the lumen;
前記センサ位置点のセット、前記モデル位置点のセット、及び前記重み値のセットに基づいて、前記センサ座標系と前記モデル座標系との間の更新された位置合わせを判定することと、を行わせる、 determining an updated alignment between the sensor coordinate system and the model coordinate system based on the set of sensor location points, the set of model location points, and the set of weight values. let
システム。 system. 前記モデルが、前記管腔網の管腔に沿った中点によって画定される骨格を更に含み、 the model further includes a skeleton defined by midpoints along the lumens of the lumen network;
前記コンピュータ実行可能命令が更に、前記１つ又は２つ以上のプロセッサに、 The computer-executable instructions further instruct the one or more processors to:
前記センサ位置点の各々から所与の管腔の前記骨格までの距離に基づいて、前記センサ位置点を選別させ、 having the sensor location points sorted based on the distance from each of the sensor location points to the skeleton of a given lumen;
選別された前記センサ位置点に基づいて、前記重みを前記センサ位置点に割り当てさせる、請求項１６に記載のシステム。 17. The system of claim 16, causing the weights to be assigned to the sensor location points based on the selected sensor location points.
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