RU2015102571A - Навигация с помощью оптоволоконного датчика для визуализации и мониторинга сосудов - Google Patents
Навигация с помощью оптоволоконного датчика для визуализации и мониторинга сосудов Download PDFInfo
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- 238000012544 monitoring process Methods 0.000 title claims 3
- 238000012800 visualization Methods 0.000 title 1
- 238000000034 method Methods 0.000 claims abstract 31
- 210000004204 blood vessel Anatomy 0.000 claims abstract 29
- 239000000835 fiber Substances 0.000 claims abstract 14
- 238000007619 statistical method Methods 0.000 claims abstract 4
- 230000017531 blood circulation Effects 0.000 claims 3
- 239000013307 optical fiber Substances 0.000 claims 3
- 230000000250 revascularization Effects 0.000 claims 2
- 238000001356 surgical procedure Methods 0.000 claims 2
- 238000013507 mapping Methods 0.000 claims 1
- 238000007789 sealing Methods 0.000 claims 1
- 230000000007 visual effect Effects 0.000 claims 1
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Abstract
1. Способ визуализации разветвленного просвета, содержащий этапы, на которых:определяют (404) изменения просвета, обусловленные ответвлениями, выявленными посредством деформации, создаваемой в оптоволоконном устройстве распознавания формы, введенном в просвет; иуказывают (410) положения ответвлений на представлении просвета, что позволяет направлять инструмент в положения ответвлений, указанные на представлении.2. Способ по п. 1, в котором просвет включает в себя кровеносный сосуд, и введение (402) оптоволоконного устройства распознавания формы включает в себя позиционирование оптоволоконного устройства распознавания формы в кровеносный сосуд.3. Способ по п. 1, в котором определение (404) изменений просвета включает в себя применение статистического метода для обнаружения изменений расхода на протяжении длины просвета для обнаружения ответвлений.4. Способ по п. 1, в котором указание (410) положений ответвлений на представлении просвета включает в себя этапы, на которых:обеспечивают (406) изображение просвета;генерируют (410) наложение на изображении просвета на основании данных распознавания формы; иуказывают (412) положение ответвлений на изображении просвета с использованием наложения.5. Способ по п. 4, в котором наложение позволяет запечатывать ответвления в просвете, указанные наложением.6. Способ по п. 5, дополнительно содержащий этап, на котором обновляют (418) наложение с использованием данных распознавания формы для указания, запечатаны ли ответвления.7. Способ по п. 1, в котором просвет включает в себя разветвленный кровеносный сосуд, подлежащий забору (420), для операции шунтирования.8. Способ по п. 1, в котором просвет включает в себя ответвления, невидимые из-за
Claims (29)
1. Способ визуализации разветвленного просвета, содержащий этапы, на которых:
определяют (404) изменения просвета, обусловленные ответвлениями, выявленными посредством деформации, создаваемой в оптоволоконном устройстве распознавания формы, введенном в просвет; и
указывают (410) положения ответвлений на представлении просвета, что позволяет направлять инструмент в положения ответвлений, указанные на представлении.
2. Способ по п. 1, в котором просвет включает в себя кровеносный сосуд, и введение (402) оптоволоконного устройства распознавания формы включает в себя позиционирование оптоволоконного устройства распознавания формы в кровеносный сосуд.
3. Способ по п. 1, в котором определение (404) изменений просвета включает в себя применение статистического метода для обнаружения изменений расхода на протяжении длины просвета для обнаружения ответвлений.
4. Способ по п. 1, в котором указание (410) положений ответвлений на представлении просвета включает в себя этапы, на которых:
обеспечивают (406) изображение просвета;
генерируют (410) наложение на изображении просвета на основании данных распознавания формы; и
указывают (412) положение ответвлений на изображении просвета с использованием наложения.
5. Способ по п. 4, в котором наложение позволяет запечатывать ответвления в просвете, указанные наложением.
6. Способ по п. 5, дополнительно содержащий этап, на котором обновляют (418) наложение с использованием данных распознавания формы для указания, запечатаны ли ответвления.
7. Способ по п. 1, в котором просвет включает в себя разветвленный кровеносный сосуд, подлежащий забору (420), для операции шунтирования.
8. Способ по п. 1, в котором просвет включает в себя ответвления, невидимые из-за окружающих тканей, и этап указания положений ответвлений на представлении просвета включает в себя обеспечение (412) указателей в положениях ответвлений, которые невидимы из-за окружающих тканей, для выявления их положения.
9. Способ по п. 1, в котором просвет включает в себя кровеносный сосуд, и способ дополнительно содержит этап, на котором оценивают (405) кровеносный сосуд с использованием оптоволоконного устройства распознавания формы для определения участка кровеносного сосуда, пригодного для операции реваскуляризации.
10. Способ визуализации разветвленного просвета, содержащий этапы, на которых:
определяют (404) позицию просвета и положения ответвлений от просвета на основании изменений расхода в просвете, обусловленных флуктуациями, порожденными деформацией, измеренными оптоволоконным устройством распознавания формы, введенным в просвет;
изображают (406) участок просвета для обеспечения изображения в реальном времени;
совмещают (408) изображение в реальном времени с позицией просвета, измеренной оптоволоконным устройством распознавания формы; и
генерируют (410) изображение с наложением, указывающее позицию просвета и положения ответвлений на изображении в реальном времени.
11. Способ по п. 10, в котором просвет включает в себя кровеносный сосуд, и введение (402) оптоволоконного устройства распознавания формы включает в себя позиционирование оптоволоконного устройства распознавания формы в кровеносный сосуд.
12. Способ по п. 10, в котором определение (404) позиции просвета и положений ответвлений от просвета включает в себя применение статистического метода для обнаружения изменений расхода на протяжении длины просвета для обнаружения ответвлений.
13. Способ по п. 10, в котором изображение (406) участка просвета для обеспечения изображения в реальном времени осуществляется с использованием наблюдательного прибора, введенного через порт для формирования изображения участка просвета.
14. Способ по п. 10, в котором ответвления в просвете, указанные наложением, запечатываются.
15. Способ по п. 14, в котором ответвления в просвете запечатываются посредством прижигания или защемления ответвлений кровеносного сосуда.
16. Способ по п. 14, дополнительно содержащий этап, на котором обновляют (418) наложение с использованием данных распознавания формы для указания, запечатаны ли ответвления.
17. Способ по п. 10, в котором просвет включает в себя разветвленный кровеносный сосуд, подлежащий забору (420), для операции шунтирования.
18. Способ по п. 10, в котором просвет включает в себя ответвления, которые невидимы из-за окружающих тканей, и этап генерации изображения с наложением включает в себя обеспечение (412) указателей на наложении в положениях ответвлений, чтобы сделать ответвления видимыми.
19. Способ по п. 10, в котором просвет включает в себя кровеносный сосуд, и способ дополнительно содержит этап, на котором оценивают (405) кровеносный сосуд с использованием оптоволоконного устройства распознавания формы для определения участка кровеносного сосуда, пригодного для операции реваскуляризации.
20. Способ по п. 10, дополнительно содержащий этап, на котором направляют (414) инструмент с помощью робота в, по меньшей мере, одно из положений ответвлений, указанных в наложении.
21. Система для мониторинга кровеносного сосуда, содержащая:
процессор (114);
память (116), подключенную к процессору;
модуль (115) распознавания и интерпретации, хранящийся в памяти и выполненный с возможностью интерпретации данных оптоволоконного распознавания формы из оптоволоконного устройства (104) распознавания формы, введенного в кровеносный сосуд, причем данные распознавания формы содержат данные, указывающие кровоток в кровеносном сосуде, обеспечивая мониторинг изменений кровотока для картирования ответвлений кровеносного сосуда;
модуль (148) генерации изображения, хранящийся в памяти и выполненный с возможностью генерации изображения (134) с наложением на основании данных оптоволоконного распознавания формы, указывающих форму кровеносного сосуда и положения ответвлений от кровеносного сосуда; и
дисплей (118), выполненный с возможностью визуализации изображения с наложением поверх представления (142) кровеносного сосуда для обеспечения руководства по визуализации ответвлений кровеносного сосуда.
22. Система по п. 21, в которой оптоволоконное устройство (104) распознавания формы определяет позицию кровеносного сосуда и положения ответвлений на основании изменений кровотока в кровеносном сосуде, обусловленных флуктуациями, порожденными деформацией, измеренными оптоволоконным устройством распознавания формы.
23. Система по п. 21, в которой представление (142) включает в себя изображение кровеносного сосуда, собранное с использованием эндоскопа, и изображение (134) с наложением совмещается с изображением кровеносного сосуда.
24. Система по п. 23, дополнительно содержащая робот (164), выполненный с возможностью направлять один или более инструментов в соответствии с изображением с наложением.
25. Система по п. 24, в которой робот (164) направляется с использованием способа визуального сервоуправления в соответствии с изображением с наложением.
26. Система по п. 24, в которой один или более инструментов включает в себя инструмент (166) для запечатывания ответвлений кровеносного сосуда.
27. Система по п. 26, в которой изображение (134) с наложением обновляется для указания, какие ответвления запечатаны.
28. Система по п. 21, дополнительно содержащая статистический метод (140) для обнаружения изменений расхода на протяжении длины просвета для обнаружения ответвлений.
29. Система по п. 21, в которой изображение (134) с наложением включает в себя указатели (304, 308) в положениях ответвлений для идентификации положений ответвлений.
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EP2866642A2 (en) | 2015-05-06 |
JP2015529477A (ja) | 2015-10-08 |
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