JP2020517352A - ホログラフィック画像ガイダンスのための非血管性経皮処置のシステム及び方法 - Google Patents
ホログラフィック画像ガイダンスのための非血管性経皮処置のシステム及び方法 Download PDFInfo
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Abstract
Description
この出願は、2017年4月20日に提出された米国臨時出願番号が62/487,519、発明名称が「経皮処置の介入部位に強化された3Dホログラフィックガイダンス及びデバイスナビゲーション(3D HOLOGRAPHIC GUIDANCE AND DEVICE NAVIGATION AUGMENTED TO THE INTERVENTIONAL SITE FOR PERCUTANEOUS PROCEDURES)」の権利を要求する。この臨時出願の全ての内容は、すべての目的のためにここに援用されている。
他に定義されない限り、本明細書に使用されている全ての技術用語は、当業者が一般的に理解するものと同じ意味を有する。
本発明は、全体的に非血管性経皮処置に関し、より具体的に、非血管性経皮処置にホログラフィック画像ガイダンスを供給するシステム及び方法に関する。ホログラフィック画像ガイダンスは、物理的介入デバイスが患者の体を通って介入ターゲットに到達することをリアルタイムに追跡することができる。物理的介入デバイスが患者の体を通すことを追跡するために、追跡システムを用いて物理的介入デバイスに対する追跡データ(位置と配向)を把握することができる。3Dホログラフィック介入デバイスは、追跡データに基づいて物理的介入デバイスの経路をたどり、術前画像に基づいて生成された3Dホログラフィック解剖画像に3D投影することができる。追跡データであるため、3Dホログラフィック解剖画像内で3Dホログラフィック介入デバイスを表示でき、画像データは、それぞれ3Dホログラフィック画像を表示するヘッドセットの座標系に変換される。
本発明の一態様は、システム10(図1)を含むことができ、当該システム10は、非血管性経皮処置にホログラフィック画像ガイダンスを供給する。非血管性経皮処置とは、経皮的にアクセスされる脈管システムと異なる被検者の身体の任意の部位で実行される任意の医療処置を指すことができる。非血管性経皮医療処置の例示は、生検、組織アブレーション、凍結療法処置、近接照射療法処置、血管内処置、排液処置、骨科処置、疼痛処理処置、椎体成形術処置、椎弓根/スクリュー配置処置、ガイドワイヤ設置処置、SI−Joint固定処置、トレーニング処置などを含みえる。
本発明の他の態様は、非血管性経皮処置にホログラフィック画像ガイダンスを供給する方法50、60(図5及び6)を含むことができる。方法50、60は、ハードウェアにより実行することができ、例えば、図1に示す上述した頭部装着型デバイス11により実行することができる。
以下の説明は、位置合わせる技術の例を説明し、当該位置合わせる技術は、追跡データ(追跡座標系において)と結像データ(結像座標系において)をホログラフィック図を提供する頭部装着型デバイスによって利用される共通のホログラフィック座標系に位置合わせるために、使用することができる。これは単なる一例の説明であり、本開示のの範囲内で他の位置合わせる技術を使用できると留意されたい。
Claims (20)
- 方法であって、
プロセッサを含む頭部装着型デバイスによって、非血管性経皮医療処置に使用される物理的介入デバイスに対する、追跡座標系における追跡データを受信することと、
前記頭部装着型デバイスによって、前記物理的介入デバイスに対する追跡座標系における追跡データをヘッドセット座標系に変換することと、
前記頭部装着型デバイスによって、結像座標系における物理的な手術部位を含む患者の解剖構造の術前画像からの画像データへアクセスすることと、
前記頭部装着型デバイスによって、前記結像座標系における前記画像データを前記ヘッドセット座標系に変換することと、
前記頭部装着型デバイスによって、前記物理的介入デバイスに対する前記ヘッドセット座標系における追跡データに基づく前記介入デバイスの3Dホログラフィック表現を、前記ヘッドセット座標系における結像データに基づく前記患者の解剖構造の3Dホログラフィック投影に位置合わせることと、
前記頭部装着型デバイスによって、前記3D解剖ホログラフィック投影を表示し、前記患者の解剖構造内の物理的な手術部位に関連する参照グラフィックによって前記患者の解剖構造のホログラフィック図の視覚化を供給することと、
前記頭部装着型デバイスによって、前記介入デバイスの3Dホログラフィック表現を表示し、前記物理的介入デバイスに関連するガイダンス制御グラフィックによって前記介入デバイスのホログラフィック図の視覚化を供給することと、
前記頭部装着型デバイスによって、前記介入デバイスに対する、前記ヘッドセット座標系における追跡データに基づいて、前記3D解剖ホログラフィック投影において前記介入デバイスの3Dホログラフィック表現をナビゲーションすることとを含み、
前記参照グラフィックと前記ガイダンス制御グラフィックは、前記3D解剖ホログラフィック投影及び前記介入デバイスの3Dホログラフィック表現を使用して前記患者の解剖構造を通る前記物理的介入デバイスを追跡するためのガイダンスを供給することを特徴とする方法。 - 前記物理的介入デバイスは、集積されるセンサコイルを含み、前記集積されるセンサコイルは、前記追跡座標系において前記追跡データを供給するように、追跡システムによって検出可能であることを特徴とする請求項1に記載の方法。
- 前記追跡データは、6自由度を有することを特徴とする請求項2に記載の方法。
- 前記追跡データは、リアルタイムの3D位置データ及びリアルタイムの3D配向データを含むことを特徴とする請求項2に記載の方法。
- 前記センサコイルは、前記物理的介入デバイスの先端に位置することを特徴とする請求項2に記載の方法。
- 患者の解剖構造の前記術前画像からの画像データは、1つまたは複数の3D術前断層画像データセットからの患者の特定のDICOM画像データで表されることを特徴とする請求項1に記載の方法。
- 前記3D解剖ホログラフィック投影は、1つまたは複数の表面メッシュモデル、または前記画像データから作成された多平面再フォーマット化の画像に基づくことを特徴とする請求項1に記載の方法。
- 前記ナビゲーションを強化するために、前記頭部装着型デバイスによって、平行移動、回転及び縮小拡大のうちの少なくとも1つにより、前記視覚化を変換することをさらに含むことを特徴とする請求項1に記載の方法。
- 前記頭部装着型デバイスの物理的な移動によって前記変換をトリガすることを特徴とする請求項8に記載の方法。
- 前記変換は、
前記追跡座標系における3つ以上の基準マーカーの位置を物理的な患者の解剖構造に位置決めすることと、
前記3つ以上の基準マーカーの位置を前記画像座標系における前記画像データ内の3つ以上の位置にマッチングすることとをさらに含むことを特徴とする請求項1に記載の方法。 - 前記3つ以上の基準マーカーの位置は、非共線であることを特徴とする請求項10に記載の方法。
- 前記3つ以上の基準マーカーは、前記患者の皮膚に配置されるセンサコイルであることを特徴とする請求項10に記載の方法。
- 前記非血管性経皮医療処置は、生検、組織アブレーション、凍結療法処置、近接照射療法処置、排液処置、骨科処置、疼痛処理処置、椎体成形術処置、椎弓根/スクリュー配置処置、ガイドワイヤ設置処置、SI−Joint固定処置またはトレーニング処置を含むことを特徴とする請求項1に記載の方法。
- 前記ガイダンスは、前記物理的介入デバイスの位置及び配向に関連する視覚フィードバックまたは聴覚フィードバックを含むことを特徴とする請求項1に記載の方法。
- 前記物理的介入デバイスが解剖ターゲット組織と交差する軌跡に位置合わせることを示す前記ガイダンス制御グラフィックに対応する線がいつ前記参照グラフィックに対応する線と交差するかをモニタするために、前記視覚フィードバックを供給することをさらに含むこと特徴とする請求項14に記載の方法。
- 前記視覚フィードバックは、ホログラフィック注釈を含み、前記ホログラフィック注釈は、ターゲット位置または配向からの距離または角度偏差を報告することを特徴とする請求項15に記載の方法。
- 頭部装着型デバイスであって、
指令が記憶される非一時的なメモリと、
プロセッサとを含み、
前記プロセッサは、前記非一時的なメモリへアクセスして前記指令を実行することで、
非血管性経皮医療処置に使用される物理的介入デバイスに対する、追跡座標系における追跡データを受信することと、
前記物理的介入デバイスに対する追跡座標系における追跡データをヘッドセット座標系に変換することと、
結像座標系における物理的な手術部位を含む患者の解剖構造の術前画像からの画像データへアクセスすることと、
前記結像座標系における前記画像データを前記ヘッドセット座標系に変換することと、
前記物理的介入デバイスに対する前記ヘッドセット座標系における追跡データに基づく前記介入デバイスの3Dホログラフィック表現を、前記ヘッドセット座標系における前記結像データに基づく前記患者の解剖構造の3Dホログラフィック投影に位置合わせることと、
前記3D解剖ホログラフィック投影を表示し、前記患者の解剖構造内の物理的な手術部位に関連する参照グラフィックによって前記患者の解剖構造のホログラフィック図の視覚化を供給することと、
前記頭部装着型デバイスによって前記介入デバイスの3Dホログラフィック表現を表示し、前記物理的介入デバイスに関連するガイダンス制御グラフィックによって前記介入デバイスのホログラフィック図の視覚化を供給することと、
前記介入デバイスに対する、前記ヘッドセット座標系における追跡データに基づいて、前記3D解剖ホログラフィック投影において前記介入デバイスの3Dホログラフィック表現をナビゲーションすることとを実行させ、
前記参照グラフィックと前記ガイダンス制御グラフィックは、前記3D解剖ホログラフィック投影及び前記介入デバイスの3Dホログラフィック表現を使用して前記患者の解剖構造を通る前記物理的介入デバイスを追跡するためのガイダンスを供給することを特徴とする頭部装着型デバイス。 - 前記視覚化を表示するための頭部装着型ディスプレイをさらに含むことを特徴とする請求項17に記載の頭部装着型デバイス。
- 前記プロセッサは、さらに前記指令を実行することで、平行移動、回転及び縮小拡大のうちの少なくとも1つで前記視覚化を変換して、前記頭部装着型デバイスの物理移動によってトリガされるナビゲーションを強化することを特徴とする請求項18に記載の頭部装着型デバイス。
- 前記変換は、
3つ以上の基準マーカーの位置であって、前記追跡座標系における非共線な位置を物理的な患者の皮膚に位置決めすることと、
前記3つ以上の基準マーカーの位置を前記画像座標系における前記画像データ内の3つ以上の位置にマッチングすることと、をさらに含むことを特徴とする請求項17に記載の頭部装着型デバイス。
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JP7429120B2 (ja) | 2024-02-07 |
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CA3060617A1 (en) | 2018-10-25 |
US20210081035A1 (en) | 2021-03-18 |
JP2023076700A (ja) | 2023-06-01 |
WO2018195463A1 (en) | 2018-10-25 |
CA3060617C (en) | 2022-10-04 |
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