JP2020058672A - ロボット手術支援装置、ロボット手術支援方法、及びプログラム - Google Patents
ロボット手術支援装置、ロボット手術支援方法、及びプログラム Download PDFInfo
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- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
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Abstract
Description
術前計画に従ってポートを設けるように、例えば助手がポートを穿孔する。しかし、計画されたポート位置に正確にポートを穿孔することは困難である。例えば、臍からの距離L1の位置にポートを設ける等、穿孔対象のポート位置が2次元平面において術前計画された場合、図14に示すように、2次元平面では同じ距離でも、被検体の側部に向かうに従って被検体の前後方向において位置が大きく変化する(範囲α参照)。そのため、ポート穿孔時に正確に計測し穿孔対象のポート位置を一意に定めることが困難である。
図1は、第1の実施形態におけるロボット手術支援装置100の構成例を示すブロック図である。ロボット手術支援装置100は、手術支援ロボット300によるロボット手術を支援し、例えば術前シミュレーション、術中シミュレーション、及び術中ナビゲーションを実施してよい。
(参考特許文献1:米国特許第8311300号明細書)
(参考特許文献2:日本国特許第5408493号公報)
(参考非特許文献2):Mitsuhiro Hayashibe, Naoki Suzuki, Makoto Hashizume, Kozo Konishi, Asaki Hattori, “Robotic surgery setup simulation with the integration of inverse-kinematics computation and medical imaging”, computer methods and programs in biomedicine, 2006, P63-P72
(参考非特許文献3)Pal Johan From, “On the Kinematics of Robotic-assisted Minimally Invasive Surgery”, Modeling Identication and Control, Vol.34, No.2, 2013, P69-P82
F(port_j(x, y+Δy, z)) - F(port_j(x, y, z)) ・・・(式1)
F(port_j(x, y, z+Δz)) - F(port_j(x, y, z))
(参考非特許文献5)Zhi Li, Dejan Milutinovic, Jacob Rosen, “Design of a Multi-Arm Surgical Robotic System for Dexterous Manipulation”, Journal of Mechanisms and Robotics, 2016
(参考特許文献3)米国特許出願公開第2007/0249911明細書
110 通信部
120 ユーザインタフェース(UI)
130 ディスプレイ
140 プロセッサ
150 メモリ
160 処理部
161 領域抽出部
162 画像生成部
163 変形シミュレーション部
164 ポート位置処理部
166 表示制御部
167 投射制御部
170 投射部
200 CT装置
300 手術支援ロボット
400 計測器
EF エンドエフェクタ
hs 臍
PS 被検体
PT ポート
PTA 補助ポート
PTC カメラポート
PTE エンドエフェクタポート
TC トロッカー
WA1 個別ワーキングエリア
WA2 全体ワーキングエリア
Claims (9)
- 手術器具を保持したロボットアームを有する手術支援ロボットによる低侵襲なロボット手術を支援するロボット手術支援装置であって、
処理部及び表示部を備え、
前記処理部は、
被検体の3Dデータを取得し、
前記手術支援ロボットの前記ロボットアームの動作に関する動作情報を取得し、
前記被検体を手術するための術式の情報を取得し、
前記被検体の体表に穿孔される複数のポートの位置の計画情報を取得し、
前記複数のポートのうち、前記被検体の体表において穿孔された第1のポートの位置を計測した計測情報を取得し、
前記第1のポートの位置の計測情報と、前記術式と、前記手術支援ロボットの前記動作情報と、前記3Dデータと、に基づいて、前記複数のポートのうちの前記第1のポートを除く残りのポートのうちの少なくとも一つの位置を決定し、
前記決定されたポートの位置を示す情報を前記表示部に表示させる、
ロボット手術支援装置。 - 前記処理部は、
取得された前記複数のポートの位置と、前記術式と、前記手術支援ロボットの前記動作情報と、前記3Dデータと、に基づいて、前記第1のポート及び前記残りのポートを含む前記複数のポートの位置を調整し、
穿孔された前記第1のポートの位置と、前記術式と、前記手術支援ロボットの動作情報と、前記3Dデータと、に基づいて、前記複数のポートのうちの調整された前記残りのポートのうちの少なくとも一つの位置を再調整する、
請求項1に記載のロボット手術支援装置。 - 前記処理部は、
前記被検体の体表において前記残りのポートを穿孔する優先度を導出し、
前記優先度を示す情報を前記表示部に表示させる、
請求項1に記載のロボット手術支援装置。 - 操作部、を更に備え、
前記処理部は、前記操作部を介して、前記複数のポートに含まれ、穿孔することが不適である不適ポートを指定し、
前記不適ポートと、前記複数のポートのうち前記不適ポートとして指定されなかったポートと、の距離は、閾値以上である、
請求項1〜3のいずれか1項に記載のロボット手術支援装置。 - 前記処理部は、
前記3Dデータをレンダリングしてレンダリング画像を生成し、
前記レンダリング画像に前記残りのポートの情報を重畳して、前記表示部に表示させる、
請求項1〜4のいずれか1項に記載のロボット手術支援装置。 - 前記処理部は、前記被検体の体表に対して、前記残りのポートの情報を示す可視光を、投射部に投射させる、
請求項1〜4のいずれか1項に記載のロボット手術支援装置。 - 前記処理部は、前記被検体のボリュームデータに気腹シミュレーションを行い、仮想気腹状態の前記3Dデータを生成する、
請求項1〜6のいずれか1項に記載のロボット手術支援装置。 - 手術器具を保持したロボットアームを有する手術支援ロボットによるロボット手術を支援するロボット手術支援装置におけるロボット手術支援方法であって、
被検体の3Dデータを取得し、
前記手術支援ロボットの前記ロボット手術を行うための可動部の動作に関する動作情報を取得し、
前記被検体を手術するための術式の情報を取得し、
前記被検体の体表に穿孔される複数のポートの位置の計画情報を取得し、
前記複数のポートのうち、前記被検体の体表において穿孔された第1のポートの位置を計測した計測情報を取得し、
前記第1のポートの位置の計測情報と、前記術式と、前記手術支援ロボットの前記動作情報と、前記3Dデータと、に基づいて、前記複数のポートのうちの前記第1のポートを除く残りのポートのうちの少なくとも一つの位置を決定し、
前記決定されたポートの位置を示す情報を表示部に表示させる、
ロボット手術支援方法。 - 請求項8に記載のロボット手術支援方法をコンピュータに実行させるためのプログラム。
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