WO2008093517A1 - 手術支援情報表示装置、手術支援情報表示方法及び手術支援情報表示プログラム - Google Patents

手術支援情報表示装置、手術支援情報表示方法及び手術支援情報表示プログラム Download PDF

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Publication number
WO2008093517A1
WO2008093517A1 PCT/JP2008/050139 JP2008050139W WO2008093517A1 WO 2008093517 A1 WO2008093517 A1 WO 2008093517A1 JP 2008050139 W JP2008050139 W JP 2008050139W WO 2008093517 A1 WO2008093517 A1 WO 2008093517A1
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WO
WIPO (PCT)
Prior art keywords
patient
surgical operation
shape
assistance information
endoscope
Prior art date
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PCT/JP2008/050139
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English (en)
French (fr)
Inventor
Seiji Yamamoto
Susumu Terakawa
Masanori Takaya
Original Assignee
National University Corporation Hamamatsu University School Of Medicine
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 National University Corporation Hamamatsu University School Of Medicine filed Critical National University Corporation Hamamatsu University School Of Medicine
Priority to JP2008556035A priority Critical patent/JP5137033B2/ja
Priority to EP08703010A priority patent/EP2123232A4/en
Priority to US12/525,267 priority patent/US8251893B2/en
Publication of WO2008093517A1 publication Critical patent/WO2008093517A1/ja

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T19/00—Manipulating 3D models or images for computer graphics
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
    • A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
    • A61B5/064—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using markers
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
    • G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
    • 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
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • 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
    • 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
    • A61B2090/365—Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another image
    • 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
    • A61B2090/366—Correlation of different images or relation of image positions in respect to the body using projection of images directly onto the body
    • 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
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/373—Surgical systems with images on a monitor during operation using light, e.g. by using optical scanners
    • 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
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
    • A61B2090/3762—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy using computed tomography systems [CT]
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/02—Devices for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
    • A61B6/03—Computerised tomographs
    • 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
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2210/00—Indexing scheme for image generation or computer graphics
    • G06T2210/41—Medical

Abstract

　本発明は、新たに特殊な内視鏡を用いることなく、内視鏡で撮像している部分が患者のどの部位に相当するかを正確に表示することを目的とする。 　手術支援情報表示装置１は、内視鏡１１と、内視鏡１１に位置決めされて固定される標識球１２と、患者６０の形状を示す情報を取得するＣＴ装置３０と、患者６０の表面及び標識球１２を撮像する撮像装置２０と、画像から患者６０の表面の形状を示す情報を算出する表面形状算出部４３と、ＣＴ装置３０による患者表面の形状と画像から算出された患者表面の形状とをマッチングする座標軸一致部４４と、画像から標識球１２の座標を算出して内視鏡１１の撮像方向の光軸を示す半直線を算出する内視鏡光軸算出部４５と、半直線と患者６０内部を構成する面との交点を算出する交点算出部４６と、患者６０の形状を示す情報に交点を示す情報を重畳して出力する出力部４７とを備える。
PCT/JP2008/050139 2007-01-31 2008-01-09 手術支援情報表示装置、手術支援情報表示方法及び手術支援情報表示プログラム WO2008093517A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2008556035A JP5137033B2 (ja) 2007-01-31 2008-01-09 手術支援情報表示装置、手術支援情報表示方法及び手術支援情報表示プログラム
EP08703010A EP2123232A4 (en) 2007-01-31 2008-01-09 DEVICE, METHOD, AND PROGRAM FOR DISPLAYING ASSISTANCE INFORMATION FOR SURGICAL OPERATION
US12/525,267 US8251893B2 (en) 2007-01-31 2008-01-09 Device for displaying assistance information for surgical operation, method for displaying assistance information for surgical operation, and program for displaying assistance information for surgical operation

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007022077 2007-01-31
JP2007-022077 2007-01-31

Publications (1)

Publication Number Publication Date
WO2008093517A1 true WO2008093517A1 (ja) 2008-08-07

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Country Status (4)

Country Link
US (1) US8251893B2 (ja)
EP (1) EP2123232A4 (ja)
JP (1) JP5137033B2 (ja)
WO (1) WO2008093517A1 (ja)

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JP2009254805A (ja) * 2008-03-18 2009-11-05 Hamamatsu Univ School Of Medicine 手術支援システム
WO2010101117A1 (ja) * 2009-03-01 2010-09-10 国立大学法人浜松医科大学 手術支援システム
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KR20140083913A (ko) * 2012-12-26 2014-07-04 가톨릭대학교 산학협력단 복합 실제 3차원 영상 제작방법 및 이를 위한 시스템
KR101727567B1 (ko) 2015-09-17 2017-05-02 가톨릭관동대학교산학협력단 복합 실제 3차원 영상 제작방법 및 이를 위한 시스템
JP2017086917A (ja) * 2015-11-16 2017-05-25 バイオセンス・ウエブスター・(イスラエル)・リミテッドBiosense Webster (Israel), Ltd. Ｃｔ画像に対して局所的に適用される透過法
JP2017176773A (ja) * 2016-03-31 2017-10-05 国立大学法人浜松医科大学 手術支援システム、手術支援方法、手術支援プログラム
JP2018514352A (ja) * 2015-04-17 2018-06-07 クリア ガイド メディカル，インコーポレーテッド 後期マーカー配置による融合イメージベース誘導のためのシステムおよび方法
CN109199388A (zh) * 2013-07-29 2019-01-15 直观外科手术操作公司 具有冗余感测的形状传感器系统
CN109419556A (zh) * 2017-08-31 2019-03-05 韦伯斯特生物官能(以色列)有限公司 在解剖图像中显示内窥镜的位置和光轴

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Cited By (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009254805A (ja) * 2008-03-18 2009-11-05 Hamamatsu Univ School Of Medicine 手術支援システム
WO2010101117A1 (ja) * 2009-03-01 2010-09-10 国立大学法人浜松医科大学 手術支援システム
JP2010200869A (ja) * 2009-03-01 2010-09-16 Hamamatsu Univ School Of Medicine 手術支援システム
US8666476B2 (en) 2009-03-01 2014-03-04 National University Corporation Hamamatsu University School Of Medicine Surgery assistance system
DE102009025077A1 (de) * 2009-06-10 2010-12-16 Karl Storz Gmbh & Co. Kg System zur Orientierungsunterstützung und Darstellung eines Instruments im Inneren eines Untersuchungsobjektes insbesondere im menschlichen Körper
US9232982B2 (en) 2009-06-10 2016-01-12 Karl Storz Gmbh & Co. Kg System for orientation assistance and display of an instrument in an object under examination particularly for use in human body
US10736592B2 (en) 2012-12-26 2020-08-11 Catholic Kwandong University Industry Academic Cooperation Foundation Method for producing complex real three-dimensional images, and system for same
WO2014104767A1 (ko) * 2012-12-26 2014-07-03 가톨릭대학교 산학협력단 복합 실제 3차원 영상 제작방법 및 이를 위한 시스템
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